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Integrity protection level optimization method for unmanned aerial vehicle swarm cooperative navigation

A protection level and collaborative navigation technology, applied in the navigation field, can solve the problems of collaborative auxiliary information waste, optimization, and inability to achieve integrity level

Active Publication Date: 2020-05-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Purpose of the invention: In order to solve the problems in the prior art, such as the waste of cooperative auxiliary information and the inability to realize the optimization of the integrity level, the present invention provides a method for optimizing the integrity protection level for the collaborative navigation of UAV bee swarms

Method used

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  • Integrity protection level optimization method for unmanned aerial vehicle swarm cooperative navigation
  • Integrity protection level optimization method for unmanned aerial vehicle swarm cooperative navigation
  • Integrity protection level optimization method for unmanned aerial vehicle swarm cooperative navigation

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[0073] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0074] Such as figure 1 As shown, the present embodiment provides a method for optimizing the integrity protection level of drone swarm cooperative navigation; details are as follows:

[0075] Step (1): let the current moment be t, the number of UAV bee colony members be n, take the geometric center of the UAV bee colony as the origin, and establish the central coordinate system of the UAV bee colony;

[0076] Step (2): Each member of the UAV swarm obtains its own position vector in the geographic coordinate system according to its airborne inertial navigation system, and converts it to the central coordinate system of the UAV swarm;

[0077] Step (3): Each m...

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Abstract

The invention discloses an integrity protection level optimization method for unmanned aerial vehicle swarm cooperative navigation. The integrity protection level optimization is assisted by unmannedaerial vehicle swarm cooperative information. The method for calculating the navigation integrity protection level of the observation model of the cooperative auxiliary information is established by combining the difference between the measurement characteristics of each satellite navigation system and the measurement characteristics of the cooperative auxiliary information, and the optimization of the integrity protection level is realized by effectively utilizing the cooperative auxiliary information through the automatic switching among a plurality of navigation modes. The method can effectively improve the reliability of bee colony cooperative navigation of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an integrity protection level optimization method for cooperative navigation of drone swarms. Background technique [0002] In the process of UAV swarm navigation, there may be situations where the protection level provided by the satellite navigation system alone cannot meet the needs of coordinated navigation or cannot obtain enough navigation satellites under special circumstances. At this time, the satellite receiver cannot detect and troubleshoot Satellite and aircraft positioning errors will increase, which will reduce the accuracy of drone swarm navigation. Cooperative navigation technology uses sensor information among multiple aircraft to realize information coordination among multiple aircraft, and can assist satellite navigation receivers in fault detection and elimination. However, before fault detection, it is also necessary to consider the influence ...

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Application Information

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IPC IPC(8): G01S19/46G01S19/47
CPCG01S19/46G01S19/47
Inventor 王融陈欣熊智刘建业赵伟陈明星杜君南赵耀康骏安竞轲聂庭宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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