复杂环境下GNSS/INS/UWB紧组合的无人机协同导航算法  

UAV collaborative navigation algorithm based on tight combination of GNSS/INS/UWB in complex environment

作　　者：陈红梅[1] 常林江 徐振方[1] 叶文 吴才章[1] Chen Hongmei;Chang Linjiang;Xu Zhenfang;Ye Wen;Wu Caizhang(School of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China;National Institute of Metrology,China,Beijing 100029,China)

机构地区：[1]河南工业大学电气工程学院,郑州450001 [2]中国计量科学研究院,北京100029

出　　处：《仪器仪表学报》2021年第7期98-107,共10页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(U1804161,61901431);中国博士后科学基金(2020T130625);河南省科学技术协会基金(HNKJZK-2021-23C);河南工业大学创新基金支持计划(2020ZKCJ31);河南工业大学青年骨干教师培育计划项目资助。

摘　　要：针对多无人机系统在复杂环境下卫星信号易受到干扰的问题,提出了一种基于环路和积算法的协同导航方法。根据传感器的特点,设计了基于GNSS/INS紧组合的绝对导航和UWB辅助的卫星双差紧组合相对导航,然后使用各个平台自身的绝对导航信息和平台间的相对导航信息,构建协同导航滤波器,基于环路和积算法,设计了消息传递规则,减少了平台间的流量,计算任务在各个平台上分布运行,减小了计算压力。最后对不同复杂场景进行了仿真和物理实验,结果表明该方案的协同导航精度明显优于不进行协同导航的结果,且随着可观测信息的增多,该方法导航精度越来越高。The satellite signals of multi-UAV systems are susceptible to interference in complex environments.To address this issue,a cooperative navigation method based on loop sum-product algorithm is proposed.According to sensor′s characteristics,the absolute navigation based on the GNSS/INS tight combination and UWB-assisted satellite double-difference tight combined relative navigation are designed.Each platform′s absolute navigation information and relative navigation information between platforms are used to construct a collaborative navigation filter.Message transmission rules are designed to reduce the flow between platforms based on loop sum-product algorithm.Calculation tasks are distributed and run on each platform,which reduces calculation pressure.Finally,simulation and UAV experiments are carried out for different complex scenes.Results show that this scheme′s cooperative navigation accuracy is significantly better than the result without cooperative navigation.With the increase of observable information,this method′s navigation accuracy is getting higher and higher.

关 键 词：协同导航 环路和积算法 GNSS/INS/UWB紧组合 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] TH39[自动化与计算机技术—计算机科学与技术]