High-precision multi-rotor aircraft cooperative positioning method and system

Abstract

The invention provides a high-precision multi-rotor aircraft cooperative positioning method and system. The method comprises the steps: selecting a target needing to be located; acquiring informationdata by n unmanned aerial vehicles, the information data comprising parameter information of the unmanned aerial vehicles, target sight angle information and distance information between the unmannedaerial vehicles and a target; and processing the information data to obtain an estimated value of the target position. According to the method provided by the invention, multiple unmanned aerial vehicles are adopted to cooperatively acquire information, and the installation error between the photoelectric pod and the integrated navigation module is introduced into the least square model, so that high-precision positioning of a long-distance target in a short time is realized under the condition that the precision of an inertial navigation element is relatively low, the positioning precision ishigh, and the time is short.

Description

technical field [0001] The invention relates to the field of target positioning, in particular to a high-precision multi-rotor cooperative positioning method and system. Background technique [0002] Multi-rotor aircraft such as unmanned aerial vehicles have been widely used in military and civilian fields due to their flexibility and good maneuverability. The detection and high-precision positioning technology of ground targets is one of the key technologies for UAV applications. The mainstream target positioning method uses airborne photoelectric equipment to obtain the relative position information of the target, so as to solve the geodetic system coordinates of the target according to the position of the UAV itself. [0003] UAV positioning methods based on photoelectric load equipment can be divided into two categories: active positioning and passive positioning. Among them, passive positioning methods mainly include map matching method and angle positioning method. ...

AI Technical Summary

Problems solved by technology

The map matching method matches the image containing the target acquired by the photoelectric pod with the existing reference map to obtain the target coordinates. When the environmental background is relatively simple or the map cannot be obtained, the use of this method is limited

The angle positioning method only solves the collinear equations to obtain the target coordinates based on the target angle information provided by the photoelectric pod. This method has a better effect and low cost in short-distance target positioning. In long-distance positioning, the positioning error of this method is relatively large

Compared with passive positioning, the active positioning method adds a ranging sensor to obtain target distance information, which is mostly used in long-distance target positioning problems. At the same time, the airborne navigation module is used to provide UAV attitude information to achieve target positioning. Due to the limitation of the accuracy of the on-board navigation module, the positioning results obtained by the single-point positioning method cannot meet the high-precision positioning requirements

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