超宽带测距辅助的无人机近距离相对导航方法  

Close relative navigation algorithm for unmanned aerial vehicle aided by UWB relative measurement

作　　者：熊骏 熊智[1] 于永军 许建新[1] 王云舒[1] XIONG JunI;XIONG Zhi;YU Yongjun;XU Jianxin;WANG YunshuI(College of Automation,Nanj ing University of Aeronautic s and Astronautics,Nanj ing 210016,China;College of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京理工大学机械工程学院,南京210094

出　　处：《中国惯性技术学报》2018年第3期346-351,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61673208;61703208;61533008;61533009;61374115);装备预研项目(30102080101);江苏省自然科学基金青年基金(BK20160849);江苏省自然科学基金项目(BK20170815;BK20170767);江苏省"333工程"科研资助立项项目(BRA2016405);留学人员择优资助项目(2016年);江苏省六大人才高峰资助项目(2013-JY-013);航空科学基金项目(20165552043;20165852052);中央高校基本科研业务费专项资金资助(NZ2016104;NS2017016;NP2017209;NZ2017001;NJ20170005);江苏高校优势学科建设工程资助项目;江苏省"物联网与控制技术"重点实验室基金;航空电子系统综合技术重点实验室资助

摘　　要：针对无人机之间的相对导航问题,提出了一种基于超宽带/相对差分的相对导航方法,基于伪距测量和超宽带测量的特征,给出了无人机之间的双差、双差变化率、超宽带测距测速以及双机定位数据做差的量测方程,并根据近距离编队跟随飞行的场景设计了相对导航状态方程,结合扩展卡尔曼滤波器对相对状态进行估计,最后针对不同的相对导航配置和卫星可用情况进行了仿真。仿真结果表明,该方案的相对导航精度明显优于仅采用一种相对测量量的效果,且在可用导航卫星越少的情况下精度提升越明显,在仅有4颗可用星的情况下,X、Y、Z三个方向(地心地固系)的相对导航均方根误差分别降低了3.2、13.06、2.01倍。该方法可有效提升编队飞行等多无人机应用场景下的相对导航精度。To deal with the relative navigation problems of unmanned aerial vehicle （UAV）, a UWB/DGPS relative navigation algorithm is proposed. According to the features ofpseudorange and ultra-wide band （UWB） measurements, the UAV formation flight measurement equations of double-difference, double-difference changing rate, UWB, and differentials of two-AUV positioning data are built. Then relative navigation states equation is established based on the close-range formation flight scenario, and EKF filter is used to estimate the relative states. Simulations are conducted according to different relative navigation configurations and different numbers of available satellites, and the results indicate that the proposed method has obvious better performance than those of using only one type of relative measurement, and has more significant accuracy improvement when the number of available satellites is fewer. When the number of available satellites is 4, the root mean squared errors of the proposed relative navigation algorithm in X/Y/Z directions （earth-centered earth-fixed coordinate system） are 3.2/13.06/2.01 times lower than those of the DGPS method. The proposed method can effectively improve the relative navigation accuracy of multi-UAV scenario such as formation flight.

关 键 词：相对导航 无人机 伪距双差 超宽带 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]