A study on dual quaternion based cooperative relative navigation of multiple UAVs with monocular vision-inertial integration  

作　　者：Byungjin LEE Sangkyung SUNG 

机构地区：[1]Academy of Applied Science and Technology,Konkuk University,Seoul 05029,South Korea [2]Department of Mechanical and Aerospace Engineering,Konkuk University,Seoul 05029,South Korea

出　　处：《Chinese Journal of Aeronautics》2024年第11期335-354,共20页中国航空学报（英文版）

基　　金：supported by the Sejong Fellowship Program,South Korea(No.NRF-2022R1C1C2009014);the Basic Research Program(No.NRF-2022R1A2C1005237)from Korean National Research Fund。

摘　　要：This paper addresses a cooperative relative navigation problem for multiple aerial agents,relying on visual tracking information between vehicles.The research aims to investigate a sensor fusion architecture and algorithm that leverages partially available absolute navigation knowledge while exploiting collaborative visual interaction between vehicles in mission flight areas,where satellite navigation-denied regions are irregularly located.To achieve this,the paper introduces a new approach to defining the relative poses of cameras and develops a corresponding process to secure the relative pose information.This contrasts with previous research,which simply linearized the relative pose information of aircraft cameras into navigation states defined in an absolute coordinate system.Specifically,the target pose in relative navigation is defined,and the pose of the camera and feature points are directly derived using dual quaternion representation,which compactly represents both translation and rotation.Furthermore,a mathematical model for the relative pose of the camera is derived through the dual quaternion framework,enabling an explicit pose formulation of relative navigation.The study investigates navigation performance in typical mission flight scenarios using an in-house high-fidelity simulator and quantitatively highlights the contributions of the proposed scheme by comparing the navigation error performance.Consequently,the proposed method demonstrates to have navigation accuracy in decimeter level even in GNSS-denied environments and an improved 3D Root Mean Square(RMS)error by30%smaller than the conventional absolute navigation framework.

关 键 词：Cooperative navigation Relative pose Dual quaternion CAMERA High-fidelity simulator 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.3