A Cooperative Localization Method for Leader–Follower Multiple UAVs Using Continuous Relative Ranging Information  

作　　者：Xudong Zhu Jizhou Lai Benchuan Zhou Pin Lv Sheng Chen 

机构地区：[1]College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016,P.R.China [2]China Air-to-Air Missile Research Institute Luoyang 471099,P.R.China

出　　处：《Guidance, Navigation and Control》2023年第2期112-135,共24页制导、导航与控制（英文）

基　　金：supported by the National Natural Science Foundation of China(61973160).

摘　　要：Cooperative localization(CL)utilizing multiple unmanned aerial vehides(UAVs)has become the current development trend and research hotspot.The tnditional distance-based CL method.typically uses principle of the spherical intersection to achieve UAV high-precision positioning.However,this distance based CL strategy requires several leader UAVs at the known positions.Thus,a cooperative localization method for leader-follower multiple UA Vs using continuous relative ranging information is proposed in this paper.Aiming at the UAV formation consists of a leader UAV node with the known position and at least a follower UAV that needs to be located.Using the Inertial short-time high-precision relative position constraint and the con-tinuous relative distance constraints with the leader UAV nodes,the closed-form solution of follower UAV's three-dimensional position can be obtained using spherical intersection prin-ciple.On this basis,we derive and construct follower UAV's position observation equation.The:developed strategy requires a single known position leader UAV node to realize high-precision CL,which can efctively solve the taditional distance-based collaborative location problem in case the number of leader UAVs is small.The simulation and experimental results demonstrate that the proposed method significantly improves follower UAV's positioning accuracy,and neglects the limitation of the traditional distance-based CL method on the number of leader UAV nodes at known positions.

关 键 词：Multiple UAVs spherical intersection relative position relative distance coopera-tive localization 

分 类 号：V279[航空宇航科学与技术—飞行器设计]