Low-cost double-leader heterogeneous unmanned aerial vehicle formation cooperative positioning method based on data link communication

Abstract

The invention provides a dual-leader heterogeneous formation cooperative positioning method based on data link communication, aiming at a heterogeneous formation cooperative positioning technology which is not sufficient for research at present and is formed on the basis of dual-leader heterogeneous formation. The method comprises the following steps: firstly, constructing a data link communication relationship under a double-leader architecture, and on this basis, constructing a nonlinear equation set according to a relative distance between low-cost unmanned aerial vehicles and a relative distance between leader unmanned aerial vehicles measured by a data link; and performing small-range search by using a particle swarm algorithm according to the measurement information of the inertial measurement unit so as to obtain cooperative positioning calculation position information meeting the positioning precision requirement. The method is good in applicability, and the cooperative positioning result can be applied in cooperation with various cooperative tasks. The method can be expanded and applied to the unmanned aerial vehicle, and can improve the precision and calculation speed of cooperative positioning through improving an optimization method.

Description

technical field [0001] The invention relates to a low-cost dual-leader heterogeneous unmanned aerial vehicle formation cooperative positioning method based on data link communication. Background technique [0002] UAVs have damage performance. As a killer, successful penetration can greatly affect the battle situation. However, the continuous improvement and development of systematic combat has not only brought about the upgrade of defense means, but also increased the redundancy of the system. Therefore, the individual combat of UAVs often faces the dilemma of two fists and four hands. With the continuous development of network technology, UAV formations based on network communication can achieve victory in quality and quantity through coordination and cooperation, and complete different types of combat missions to fill the gaps brought by the dispersion of mission objectives and the improvement of defense capabilities. Insufficient firepower and other problems, to achieve...

AI Technical Summary

Problems solved by technology

[0004] At present, there are few reports on the theoretical research results of the cooperative positioning of the heterogeneous UAV formation itself. How to combine some high-performance team leaders and realize the cooperative positioning of low-cost UAVs in heterogeneous formations through data link communication urgently needs a theoretical breakthrough.

Images