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An Integrity Protection Level Optimization Method for Unmanned Aerial Vehicle Swarm Cooperative Navigation

A level of protection and collaborative navigation technology, applied in the field of navigation, can solve the problems of unachievable integrity level, collaborative auxiliary information waste, optimization, etc., to achieve the effect of overcoming information waste, ensuring usefulness, and ensuring integrity

Active Publication Date: 2022-06-17
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

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  • An Integrity Protection Level Optimization Method for Unmanned Aerial Vehicle Swarm Cooperative Navigation
  • An Integrity Protection Level Optimization Method for Unmanned Aerial Vehicle Swarm Cooperative Navigation
  • An Integrity Protection Level Optimization Method for Unmanned Aerial Vehicle Swarm Cooperative Navigation

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

[0074] like figure 1 As shown, this embodiment provides an integrity protection level optimization method for cooperative navigation of drone swarms; the details are as follows:

[0075] Step (1): Let the current time be t, the number of drone swarm members be n, and the geometric center of the drone swarm is the origin to establish the coordinate system of the drone swarm center;

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

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

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Abstract

The invention discloses a method for optimizing the level of integrity protection used in cooperative navigation of unmanned aerial vehicles (UAVs) and bee swarms, which utilizes unmanned aerial vehicle bee colony cooperative information to assist in the optimization of the integrity protection level; combining various satellite navigation systems and cooperative auxiliary information to measure characteristics In order to establish the calculation method of the integrity protection level of the observation model of collaborative auxiliary information, and through the automatic switching between multiple navigation modes, the collaborative auxiliary information is effectively used to optimize the integrity protection level. This method can effectively improve the reliability of drone swarm cooperative navigation.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a method for optimizing the integrity protection level for cooperative navigation of drone swarms. Background technique [0002] In the process of UAV swarm navigation, it may happen that the protection level provided by the satellite navigation system alone cannot meet the needs of cooperative navigation, or in special circumstances, sufficient navigation satellites cannot be obtained. At this time, the satellite receiver cannot detect and troubleshoot. The positioning error of satellites and aircraft will increase, which will reduce the navigation accuracy of drone swarms. Collaborative navigation technology utilizes sensor information among multiple aircraft to achieve information coordination among multiple aircraft, which can assist satellite navigation receivers in fault detection and troubleshooting. However, before fault detection, it is also necessary to ...

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Application Information

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Patent Type & Authority Patents(China)
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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