基于相对速度和位置辅助的无人机编队协同导航

doi:10.16183/j.cnki.jsjtu.2022.232

上海交通大学学报 ›› 2022, Vol. 56 ›› Issue (11): 1438-1446.doi: 10.16183/j.cnki.jsjtu.2022.232

基于相对速度和位置辅助的无人机编队协同导航

郭鹏军¹, 张睿¹, 高关根², 许斌¹()

1.西北工业大学自动化学院, 西安 710072
2.航空工业西安飞行自动控制研究所, 西安 710065

收稿日期:2022-06-21 出版日期:2022-11-28 发布日期:2022-12-02
通讯作者: 许斌 E-mail:smlieface.binxu@gmail.com
作者简介:郭鹏军(1996-),男,陕西省咸阳市人,博士生,从事无人机集群导航研究.
基金资助:
国家自然科学基金(61933010);航空科学基金(201905018002);航空科学基金(201905018003)

Cooperative Navigation of UAV Formation Based on Relative Velocity and Position Assistance

GUO Pengjun¹, ZHANG Rui¹, GAO Guangen², XU Bin¹()

1. School of Automation, Northwestern Polytechnical University, Xi’an 710072, China
2. Xi’an Flight Automatic Control Research Institute, Aviation Industry Corporation of China, Ltd., Xi’an 710065, China

Received:2022-06-21 Online:2022-11-28 Published:2022-12-02
Contact: XU Bin E-mail:smlieface.binxu@gmail.com

摘要/Abstract

摘要：

惯性导航系统的误差随时间累积,仅依靠惯性导航系统进行定位的无人机编队无法在长航时飞行中获取高精度导航信息.针对这一问题,面向主从式无人机编队提出一种协同导航方案.首先,在无人机上配置相对导航传感器,测量主从无人机编队成员之间的相对速度和相对位置信息;其次,考虑编队成员之间的相对位姿,研究空间统一转换方案,将编队各成员依靠惯性导航系统测量的绝对导航信息与相对传感器测量的相对导航信息统一到同一导航坐标系下;最后,给出基于相对速度和相对位置辅助的协同导航方案.30 min仿真结果表明,采取该方案后,从机各方向上的速度和位置误差分别收敛至0.1 m/s和5 m,证实该方案相较于惯性导航系统更适用于长航时飞行场景.

关键词: 协同导航, 相对导航, 空间信息统一, 无人机

Abstract:

Because the navigation errors of inertial navigation system accumulate with time, the unmanned aerial vehicle (UAV) formation that only relies on inertial navigation system for positioning cannot obtain precision navigation information in long time flight. To solve this problem, this paper proposes a cooperative navigation scheme for master-slave UAV formation. First, the UAV is equipped with relative navigation sensors to measure the relative velocity and position information between the members of the master-slave UAV formation. Then, considering the relative pose of formation members, the spatial unified transformation scheme is studied. The absolute navigation information measured by each member of UAV formation by inertial navigation system and the relative navigation information measured by relative sensors is unified into the same navigation coordinate system. Finally, a cooperative navigation scheme based on relative velocity and relative position assistance is given. The 30 min simulation results show that the speed and position errors of each cluster converge to 0.1 m/s and 5 m respectively under this scheme, which is more suitable than the inertial navigation system.

Key words: collaborative navigation, relative navigation, spatial information unification, unmanned aerial vehicle (UAV)

中图分类号:

V249.32

郭鹏军, 张睿, 高关根, 许斌. 基于相对速度和位置辅助的无人机编队协同导航[J]. 上海交通大学学报, 2022, 56(11): 1438-1446.

GUO Pengjun, ZHANG Rui, GAO Guangen, XU Bin. Cooperative Navigation of UAV Formation Based on Relative Velocity and Position Assistance[J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1438-1446.

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参考文献 15

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参数	数值
多普勒安装角误差/(')	(15, 10, 12)
多普勒刻度系数误差/%	(0.8, 0.8, 0.8)
激光测速白噪声均方根/(m·s^-1)	(0.05, 0.05, 0.05)
激光测距刻度系数误差/%	0.5
激光测距白噪声均方根/m	0.5
激光测角白噪声均方根/(°)	0.1

参数	M	S_n
初始位置 (相对参考点)/m	(-200, 0, 40)	S₁(0,-100, 0) S₂(0, 100, 0) S₃(0, 0, 25)
初始速度/(m·s^-1)	(0, 0, 0)	(0, 0, 0)
初始姿态/(°)	(0, 0, 90)	(0, 0, 90)
陀螺零偏/[(°)·h^-1]	0.002	0.02
角度随机游走/[(°)·h^-0.5]	0.001	0.01
加速度计零偏/mg	0.02	0.1
速度随机游走/(mg·h^-0.5)	0.01	0.05
GPS定位误差/m	5	无GPS

基于相对速度和位置辅助的无人机编队协同导航

Cooperative Navigation of UAV Formation Based on Relative Velocity and Position Assistance

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