协同导航作为无人机集群平台的新导航方式，可充分利用各无人机间的消息互联融合所有平台的量测信息获取整个系统的最优估计。针对分布式协同导航算法估计精度低的问题，提出3阶段的协同导航方法，利用绝对导航输出信息作为协同导航的初始值，将相对导航输出信息作为协同导航的量测信息，构建协同导航滤波器，将各平台解算出的结果反馈到各平台自身的绝对导航，进而获取到导航信息的全局最优估计。仿真结果表明：提出基于消息互联的协同无人机集群导航方法可有效估计各无人机的导航信息，相较于传统的导航定位系统以及协同导航方法，具有更高的抗干扰性和稳定性，更能适应不同的复杂环境。
As a new navigation mode of drone swarm, collaborative navigation can make full use of the message interconnection between platforms and fuse all the measurement information for an optimal estimation of the whole system. Aiming at the problem of low estimation accuracy of distributed cooperative navigation algorithm, a three-stage cooperative navigation method is proposed in this paper. Firstly, the absolute navigation output information is used as the initial value of cooperative navigation, then the relative navigation output information is used as the measurement information of cooperative navigation and a cooperative navigation filter is constructed. Finally, the results calculated by each platform are recursively fed back to the absolute navigation of each platform until the global optimal estimation of navigation information is obtained. The simulation results show that the cooperative navigation method based on message interconnection proposed in this paper can effectively estimate the navigation information of each platform. Compared with the traditional navigation and positioning system and cooperative navigation scheme, it has higher anti-interference and stability, and can adapt to different complex environments.
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