基于距离测量的多无人机协同目标定位方法  

Target Cooperative Location Method of Multi-UAV Based on Pseudo Range Measurement

作　　者：屈耀红[1] 张峰[1] 谷任能 袁冬莉[1] QU Yaohong;ZHANG Feng;GU Renneng;YUAN Dongli(School of Automation, Northwestern Polytechnical University, Xi′an 710072, China)

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2019年第2期266-272,共7页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(61473229)资助

摘　　要：提出了一种利用多无人机与目标之间的距离以及无人机站址坐标估算目标位置的协同定位算法。通过一阶Taylor展开,把非线性距离测量方程转化为量测距离信息加上无人机的站址误差以及测距传感器的测距误差信息方程,进而对定位方程求解,得到目标的位置。最后利用在线枚举法寻求最小GDOP值所映射的最优编队队形以提高定位精度。计算机仿真结果验证了该算法的有效性和适应性。Based on the locations of several unmanned aerial vehicles (UAVs) and the pseudo ranges to a target, a target cooperative location method is proposed in this paper. The nonlinear equation about real pseudo distance information is transformed to another equation by using Tayloy formula. By solving the above equation, position information of the target can be obtained. Meanwhile, the certain equation′s variables are the measured results of pseudo distances, location errors of UAVs and distance-measuring errors of range sensors. Besides, an online enumeration method is applied to search for the best formation, whose objective is to enhance the location accuracy, and the mentioned formation is mapped to the minimal GDOP. The simulations verify the validity and adaptability of the proposed method.

关 键 词：无人机 协同定位 GDOP 编队队形 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]