Multi-unmanned aerial vehicle cooperative relative navigation method based on GNSS observed quantity and inter-vehicle distance measurement

Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative relative navigation method based on GNSS observed quantity and inter-vehicle distance measurement. The method comprises the steps ofcollecting and tracking the satellite signals through the GNSS receivers on all vehicles to obtain the GNSS observed quantity, and obtaining the inter-vehicle relative distance information through arelative distance measurement module; broadcasting and summarizing the navigation information of each unmanned aerial vehicle by an inter-vehicle communication module, and assisting the GNSS relativedifference to estimate a baseline between the unmanned aerial vehicles by utilizing the inter-vehicle relative distance information; taking one unmanned aerial vehicle as a benchmark, acquiring the position of each unmanned aerial vehicle relative to the benchmark by utilizing a relative position vector, and integrating the position with the GNSS observed quantity into the relative navigation information; selecting another unmanned aerial vehicle except the reference, and solving the position of the unmanned aerial vehicle relative to the reference to optimize the original baseline solution byusing the relative navigation information related to the unmanned aerial vehicle and the reference in an unmanned aerial vehicle formation; and optimizing the baseline solutions with worse precisionin sequence by utilizing the existing baseline solutions and the measurement quantity until each baseline solution in the formation is converged, thereby finishing the multi-unmanned aerial vehicle cooperative relative navigation. According to the invention, the precision, reliability and continuity of the relative navigation of the unmanned aerial vehicle formation can be improved.

Description

technical field [0001] The present invention relates to a technology in the field of navigation, in particular to a relative navigation method based on GNSS observations and inter-device distance measurement in an urban environment. Background technique [0002] In recent years, multi-agent systems, such as UAV formation, Internet of Vehicles, and UAV-vehicle collaboration, have received widespread attention because of their potential value and are the trend of future development. In a multi-agent system, accurate and reliable relative position information is a key element to ensure accurate cooperative control of dense clusters. In relative navigation, the most commonly used global satellite navigation system (GNSS) receiver can perform high-precision observation and positioning in an open environment, but in an urban environment, due to factors such as building occlusion, relative positioning based only on GNSS There are problems such as insufficient number of visible sat...

AI Technical Summary

Problems solved by technology

In relative navigation, the most commonly used global satellite navigation system (GNSS) receiver can perform high-precision observation and positioning in an open environment, but in an urban environment, due to factors such as building occlusion, relative positioning based only on GNSS There are problems such as insufficient number of visible satellites, poor geometric distribution of visible satellites, significant increase in positioning errors caused by indirect signals and multipath effects, etc.

Therefore, the performance of the relative navigation system based on GNSS is obviously degraded, which is manifested in the decline of navigation accuracy, integrity and continuity, and may even fail to navigate. challenge

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