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.
LI Song
. A collaborative navigation method of UAV platform based on message interconnection[J]. Science & Technology Review, 2022
, 40(17)
: 113
-119
.
DOI: 10.3981/j.issn.1000-7857.2022.17.010
[1] 袁成, 董晓琳, 朱超磊.2020年国外先进军用无人机技术发展综述[J].飞航导弹, 2021(1):17-24.
[2] 陈红梅, 常林江, 徐振方, 等.复杂环境下GNSS/INS/UWB紧组合的无人机协同导航算法[J].仪器仪表学报, 2021, 42(7):98-107.
[3] Zhou Y, Cheng N, Lu N, et al.Multi-UAV-Aided Networks:Aerial-ground cooperative vehicular networking architecture[J].IEEE Vehicular Technology Magazine, 2015, 10(4):36-44.
[4] 韩勇强, 李利华, 陈家斌, 等.地面无人作战平台导航技术发展现状与趋势[J].导航与控制, 2020(4):96-110.
[5] Sivaneri V O, Gross J N.UGV-to-UAV cooperative ranging for robust navigation in gnss-challenged environments[J].Aerospace Science and Technology, 2017, 71:245-255.
[6] 孙书利, 邓自立.多传感器线性最小方差最优信息融合估计准则[J].科学技术与工程, 2004, 4(5):334-336.
[7] 周宏宇, 王小刚, 单永志, 等.基于改进粒子群算法的飞行器协同轨迹规划[J].自动化学报, 2020, 6(14):1-8.
[8] Sun X, Xu H, Jiang J.AUV cooperative navigation algorithm based on factor graph[C]//2019 Chinese Control and Decision Conference (CCDC).Piscataway:IEEE, 2019:18975598.
[9] Xiong J, Xiong Z, Cheong J W, et al.Cooperative positioning for low-cost close formation flight based on relative estimation and belief propagation[J].Aerospace Science and Technology, 2020, 106:106068.
[10] Savic V, Zazo S.Cooperative localization in mobile networks using nonparametric variants of belief propagation[J].Ad Hoc Networks, 2013, 11(1):138-150.
[11] Meyer F, Hlinka O, Hlawatsch F.Sigma point belief propagation[J].IEEE Signal Processing Letters, 2014, 21(2):145-149.
[12] Meyer F, Wymeersch H, Fröhle M, et al.Distributed estimation with information-seeking control in agent networks[J].IEEE Journal on Selected Areas in Communications, 2015, 33(11):2439-2456.
