Distributed relative positioning method and system for compact formation configuration of unmanned aerial vehicle cluster
A relative positioning and unmanned aerial vehicle technology, applied in control/adjustment system, three-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problems of high cost, difficulty in relative position calculation, and positioning accuracy And real-time issues, to achieve the effect of reducing the implementation complexity and low power consumption
Active Publication Date: 2021-07-13
NAT UNIV OF DEFENSE TECH
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Problems solved by technology
However, the relative positioning measurement method of the above-mentioned centralized method is not only costly to implement, but also needs to deploy multiple tag nodes, and it is difficult to take into account the positioning accuracy and real-time performance, especially when it is applied to a large-scale UAV platform. It is difficult to achieve fast and accurate relative position calculation between machine platforms
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[0041] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.
[0042] like figure 1 As shown, the steps of the distributed relative positioning method for the close formation configuration of the UAV cluster in this embodiment include:
[0043] Step S1, deploying and installing UWB tags on each UAV platform, and each UAV platform communicates through the deployed UWB tags;
[0044]Step S2, configure each UAV platform as a measurement node, and carry out pairwise mutual measurement and positioning between each UAV platform in a polling manner, so as to establish the relationship between the current measurement node and other measurement nodes in each measurement node. Spatial location status relationship, realize distributed relative positioning.
[0045] In this embodiment, UWB is used as the carrier of relative measureme...
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The invention discloses a distributed relative positioning method and system for an unmanned aerial vehicle cluster close formation configuration. The method comprises the steps: S1, deploying and installing a UWB tag on each unmanned aerial vehicle platform, and enabling the unmanned aerial vehicle platforms to communicate through the deployed UWB tags; and S2, configuring the each unmanned aerial vehicle platform as a measurement node, mutually measuring and positioning every two unmanned aerial vehicle platforms according to a polling mode so as to establish a spatial position state relation of the current measurement node relative to the other measurement nodes in the measurement nodes, thereby realizing distributed relative positioning. The method has the advantages of being simple in implementation method, low in cost and power consumption, accurate in positioning and the like, and does not need to depend on auxiliary measurement means.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicle cluster control, in particular to a distributed relative positioning method and system for close formation configuration of unmanned aerial vehicle clusters. Background technique [0002] UAV swarms are composed of large-scale micro and low-cost UAV platforms. At present, satellite navigation and positioning methods or relative positioning methods are usually used to realize group formation configuration. UAV platforms adopt centralized or distributed tasks. In a coordinated manner, they cooperate with each other to complete tasks to achieve the desired formation configuration effect. Among them, in the above-mentioned traditional positioning method based on satellite navigation and positioning, since it must rely on satellite navigation information, the stability of positioning is poor. Due to the situation of stopping and so on, the UAV platform cannot obtain the position inform...
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Login to View More IPC IPC(8): G05D1/10
CPCG05D1/104Y02D30/70
Inventor 尹栋相晓嘉李贞屹陈思远习业勋
Owner NAT UNIV OF DEFENSE TECH