一种改进的主从式无人机协同导航算法  

An Improved Cooperative Navigation Algorithm for Master‑Slave UAV Formation

作　　者：商阳 苏婧婷 魏帅 景江 SHANG Yang;SU Jingting;WEI Shuai;JING Jiang(AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710065,China)

机构地区：[1]中国航空工业集团公司西安飞行自动控制研究所,西安710065

出　　处：《南京航空航天大学学报》2024年第6期1097-1103,共7页Journal of Nanjing University of Aeronautics & Astronautics

摘　　要：为提高传统基于测距测角信息的主从式无人机协同导航算法下僚机定位精度,考虑低成本僚机测量设备存在测角测距误差的情况下,重新构建了主从式无人机协同导航误差模型,对僚机导航定位误差与测距测角误差进行估计与补偿,推导了状态方程和量测方程,采用卡尔曼滤波的方式实现算法。仿真结果表明,对于陀螺漂移10(°)/h水平的低精度微机电系统(Micro electromechanical system,MEMS)僚机惯导,在单长机量测组合下,其500 s内东、北向速度误差均方根(Root mean square,RMS)分别为0.25 m/s和0.74 m/s;纬度和经度误差RMS分别为17.10 m和9.10 m,相比传统算法速度精度提高3~10倍,位置精度提高约20倍;在双长机量测组合下僚机定位精度接近长机水平。对僚机测距误差估计精度较高,测角误差估计精度受僚机自身航向精度影响,若存在磁航向等外部航向基准,能够进一步提升测角误差估计精度。In order to improve the positioning accuracy of the traditional master-slave unmanned aerial vehicle(UAV)cooperative navigation algorithm based on range and angle measurement information,given the angle and range measurement errors of low-cost slave UAV measuring equipment,the error model of the cooperative navigation system of master‑slave UAV is reconstructed.The navigation and measurement errors of the slave UAV are estimated and compensated.The state equations and measurement equations are derived,then the algorithm is implemented using Kalman filter.Simulation results show that for a slave UAV’s inertial navigation system based on a low accuracy micro electromechanical system(MEMS)with a gyro drift level of 10(°)/h,the root mean square(RMS)of the east and the north velocity errors within 500 s are 0.25 m/s and 0.74 m/s,respectively,and the RMS of the latitude and the longitude errors are 17.10 m and 9.10 m,respectively,under single master UAV combined navigation.The speed accuracy is 3-10 times higher than that of the traditional algorithm,and the position accuracy is about 20 times higher.The positioning accuracy is close to the level of master UAV under double mater UAVs’measurement references.The estimation accuracy of range measurement errors of the slave UAV is high,while the estimation accuracy of angle measurement errors is affected by the heading accuracy of the slave UAV itself.The estimation accuracy of angle measurement error can be further improved if heading references such as magnetic heading exist.

关 键 词：导航、制导与控制 主从式协同导航 测距测角误差 卡尔曼滤波 无人机 

分 类 号：V249[航空宇航科学与技术—飞行器设计]