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

doi:10.16183/j.cnki.jsjtu.2022.232

Abstract

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)

CLC Number:

V249.32

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.

Figures/Tables 11

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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