基于轮询相对测距的多无人机协同导航优化方法

By constructing a polling architecture and a sliding window optimization method, and utilizing IMU pre-integration and relative distance observation factor nodes, the problem of positioning error accumulation in multi-UAV cooperative navigation under polling communication was solved, achieving high-precision and real-time multi-UAV cooperative positioning.

CN117007044BActive Publication Date: 2026-07-17NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Filing Date
2023-08-04
Publication Date
2026-07-17

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Abstract

本发明公开了一种基于轮询相对测距的多无人机协同导航优化方法，包括以下步骤：构建轮询架构，获取轮询架构下的量测信息和节点自身状态信息；将轮询架构下的量测信息和节点自身状态信息保存到信息滑窗；基于所述量测信息和状态信息构建IMU预积分因子节点和相对距离观测因子节点；基于所述IMU预积分因子节点和相对距离观测因子节点构建从机节点分布式协同定位优化因子图；基于所述从机节点分布式协同定位优化因子图，通过滑动窗口优化和最小二乘迭代优化得到从机节点最优状态。本方法实现了轮询通讯条件下的多无人机高精度协同定位。
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