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Collaborative relative positioning method and system for aircraft cluster

A relative positioning, aircraft technology, applied in the direction of instruments, navigation, measuring angles, etc., can solve problems such as the inability to achieve accurate positioning of the same target

Active Publication Date: 2019-09-27
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a cooperative relative positioning method and system for aircraft clusters to solve the technical problem that the existing aircraft positioning methods cannot accurately locate the same target

Method used

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  • Collaborative relative positioning method and system for aircraft cluster
  • Collaborative relative positioning method and system for aircraft cluster

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Embodiment 1

[0089] Such as figure 1 As shown, the present invention discloses a cooperative relative positioning method of an aircraft cluster, comprising the following steps:

[0090] S1. Obtain the pitch angle measurement value and the azimuth angle measurement value of each aircraft in the aircraft cluster relative to the target by using the angle measuring sensor installed on each aircraft, and obtain the distance between each aircraft in the aircraft cluster by using the ranging sensor installed on each aircraft. Relative distance measurements between other aircraft;

[0091] S2. Construct a three-dimensional space coordinate system with the target as the origin, and construct a system reflecting the undetermined coordinates and the said aircraft according to the theoretical relative distances, theoretical pitch angles, and theoretical azimuth angles between the undetermined coordinates and the respective aircrafts. A group of observation equations for the relationship between the r...

Embodiment 2

[0096] 1. A cooperative relative positioning method of an aircraft cluster, comprising the following steps:

[0097] S1. Obtain the pitch angle measurement value and the azimuth angle measurement value of each aircraft in the aircraft cluster relative to the target by using the angle measuring sensor installed on each aircraft, and obtain the distance between each aircraft in the aircraft cluster by using the ranging sensor installed on each aircraft. Relative distance measurements between other aircraft;

[0098]S2. Construct a three-dimensional space coordinate system with the target as the origin, and construct a system reflecting the undetermined coordinates and the theoretical relative distances, theoretical pitch angles, and theoretical azimuth angles between the undetermined coordinates and the respective aircrafts. The observation equation group of the relationship between the relative distance measurement value, the pitch angle measurement value and the azimuth measur...

Embodiment 3

[0118] A method for cooperative relative positioning of aircraft clusters, comprising the following steps:

[0119] S1. Obtain the pitch angle measurement value and the azimuth angle measurement value of each aircraft in the aircraft cluster relative to the target by using the angle measuring sensor installed on each aircraft, and obtain the distance between each aircraft in the aircraft cluster by using the ranging sensor installed on each aircraft. Relative distance measurements between other aircraft;

[0120] S2. Construct a three-dimensional space coordinate system with the target as the origin, and construct a system reflecting the undetermined coordinates and the theoretical relative distances, theoretical pitch angles, and theoretical azimuth angles between the undetermined coordinates and the respective aircrafts. The observation equation group of the relationship between the relative distance measurement value, the pitch angle measurement value and the azimuth measur...

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Abstract

The invention discloses a collaborative relative positioning method and system for an aircraft cluster. An observation equation set is built according to the relative distance between undetermined coordinates of all aircrafts in the aircraft cluster and the aircrafts and a geometrical relationship between a theoretical pitch angle and a theoretical azimuth angle of the aircrafts relative to a target, a pitch angle measurement value and an azimuth angle measurement value of each aircraft in the aircraft cluster relative to the target are obtained according to an acquired angle measurement sensor on each aircraft, the relative distance measurement values between all the aircrafts and other aircrafts are obtained, the observation equation set is utilized, and the coordinate position of each aircraft is obtained through optimization solution. Compared with the existing relative positioning method, the method provided by the invention simplifies the requirement for configuration of an aircraft measurement device and is more convenient to implement. Moreover, relative positioning is realized by adopting mutual ranging between the aircrafts, so that higher relative positioning accuracy can be achieved compared with the prior art.

Description

technical field [0001] The invention relates to the field of aircraft positioning and navigation, in particular to a cooperative relative positioning method and system for aircraft clusters. Background technique [0002] No matter in the military or civilian fields, the ability of a single aircraft to perform missions is always limited, while a cluster of aircraft composed of multiple aircrafts cooperate with each other has advantages that a single aircraft cannot match, such as function distribution, high cost-effectiveness, large-scale situational awareness, high task completion probability, etc. [0003] The high-precision motion coordination of swarm aircraft, such as precise formation flight, is inseparable from the high-precision relative position information between the aircraft, while the coordinated guidance attack of swarm aircraft on non-cooperative targets requires not only precise relative positioning between swarm aircraft, but also cooperation with non-coopera...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G01C1/00
CPCG01C21/005G01C21/20G01C1/00Y02T10/40
Inventor 陈琪锋李松孟云鹤钟日进
Owner CENT SOUTH UNIV
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