基于5G信号异步时钟误差补偿的多无人机协同定位方法  

A Multi-UAV Cooperative Positioning Method Based on 5G Signal Asynchronous Clock Error Compensation

作　　者：黄郑 王红星[1] 郇希岳 张欣[1] HUANG Zheng;WANG Hongxing;HUAN Xiyue;ZHANG Xin(Jiangsu Fangtian Power Technology Co.,Ltd.,Nanjing 211000,China;Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China)

机构地区：[1]江苏方天电力技术有限公司,南京211000 [2]南京航空航天大学,南京211000

出　　处：《电光与控制》2024年第1期46-50,103,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61973160);江苏方天电力技术有限公司科技项目(KJ202013)。

摘　　要：5G信号可为多无人机(UAV)提供精确的相对测距/测角信息,进而提升其在卫星接收机故障时的协同定位精度。然而,协同网络中各节点的5G通讯时钟往往是异步的,这会对测距/测角信息的精度产生较大影响,进而降低融合性能。针对上述问题,提出了一种基于5G信号异步时钟误差补偿的多无人机协同定位方法。首先,构建了基于5G信号异步时钟误差的相对测距模型,并利用相对测距/测角信息以及高度计信息建立了从机的位置观测方程。在此基础上,通过设计迭代扩展卡尔曼滤波器(IEKF)实现了对从机惯导系统(INS)误差以及异步时钟误差的联合最优估计,提高了从机定位精度。仿真结果表明,相比于传统方法,所提方法将从机的水平定位精度提高了25.3%。5G signals can provide accurate relative range/angle measurement information for multiple UAVs,thereby improving their cooperative positioning accuracy when the satellite receiver is malfunctioning.However,the 5G communication clock of each node in the cooperation network is often asynchronous,which will greatly affect the accuracy of range/angle measurement information,thereby reducing the fusion performance.To solve the above problems,a multi-UAV cooperative positioning method based on 5G signal asynchronous clock error compensation is proposed.Firstly,a relative range measurement model based on 5G signal asynchronous clock errors is constructed,and the position observation equation of the follower UAVs is established by using relative range/angle measurement information and altimeter information.Based on this,the joint optimal estimation of the Inertial Navigation System(INS)errors of the follower UAVs and asynchronous clock errors is realized by designing an Iterative Extended Kalman Filter(IEKF),which improves the positioning accuracy of the follower UAVs.The simulation results show that,compared with the traditional method,the proposed method improves the horizontal positioning accuracy of the follower UAVs by 25.3%.

关 键 词：多无人机 协同定位 5G信号 异步时钟误差 相对测距/测角 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]