基于几何拓扑约束的多飞行器高精度协同相对导航方法  

High-Precision Collaborative Relative Navigation Method for Multiple Aircraft Based on Geometric Topology Constraints

作　　者：卢克文 王新龙[1] 王彬 Lu Kewen;Wang Xinlong;Wang Bin(School of Astronautics,Beihang University,Beijing 100083,China;Beijing Institute of Control&Electronic Technology,Beijing 100038,China)

机构地区：[1]北京航空航天大学宇航学院,北京100083 [2]北京控制与电子技术研究所,北京100038

出　　处：《航空兵器》2024年第4期78-85,共8页Aero Weaponry

基　　金：国家自然科学基金项目(61673040);重点基础研究项目(2020-JCJQ-ZD-136-12);航空科学基金项目(20170151002);天地一体化信息技术国家重点实验室基金项目(2015-SGIIT-KFJJ-DH-01)。

摘　　要：多飞行器编队的多重作业能力强、可靠性高、整体效率高,是未来航空领域发展的重要方向,而高精度的相对导航是实现多飞行器编队飞行的关键。为了实现高精度相对导航,现有方法通常采用增加导航传感器种类或提高导航传感器测量精度的方式提升相对导航精度,但这不仅导致相对导航系统成本和体积的增加,而且会导致系统复杂性的增加。为此,本文从编队整体的几何拓扑结构出发,建立编队几何拓扑约束模型,并将其引入对相对惯导误差的估计中,提出一种基于几何拓扑约束的协同相对导航方法。所提方法通过引入整个编队的几何拓扑信息,能够在不增加导航传感器配置的前提下提升相对导航精度。在此基础上,设计得到一种多飞行器高精度协同相对导航方案。仿真结果表明,所提方法具有比现有方法更高的相对导航精度,其相对定姿、相对定位和相对测速的误差均方差分别减少了66.48%、48.73%和69.53%以上,可以实现多飞行器之间高精度的相对导航。Multiple aircraft formation has strong multi operation capability,high reliability and high overall efficiency,which is an important direction for the future development of aviation field.High-precision relative navigation is crucial for multiple aircraft to achieve formation flight.In order to achieve high-precision relative navigation,the existing methods usually increase the relative navigation accuracy by adding the types of navigation sensors or improving the measurement accuracy of navigation sensors.However,this not only leads to an increase in the cost and volume of the relative navigation system,but also leads to an increase in the system complexity.Therefore,based on the overall geometry topology structure of the formation,a formation geometric topology constraint model is established and introduced into the estimation of the relative inertial navigation errors in this paper.A collaborative relative navigation method based on geometric topology constraints is proposed.By introducing the geometric topology information of the whole formation,the proposed method can improve the relative navigation accuracy without increasing the configuration of navigation sensors.On this basis,a high-precision collaborative relative navigation scheme for multiple aircraft is designed.The simulation results show that the proposed method has higher relative navigation accuracy than the existing method,and the mean squared errors of relative attitude determination,relative positioning and relative velocity measurement are reduced by more than 66.48%,48.73%and 69.53%,respectively.The proposed method can achieve high-precision relative navigation for multiple aircraft.

关 键 词：多飞行器编队 航空领域 几何拓扑约束 协同相对导航 导航精度 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程] V249[航空宇航科学与技术—飞行器设计]