基于多传感器信息融合的无人机编队协同差分相对定位方法  

Cooperative differential relative localization method for UAV formation based on MSIF

作　　者：鲁航 姜涛[1] 田德宇[1] LU Hang;JIANG Tao;TIAN Deyu(CH UAV Technology Co.,Ltd.,China Academy of Aerospace Aerodynamics,Beijing 100074,China)

机构地区：[1]中国航天空气动力技术研究院彩虹无人机科技有限公司,北京100074

出　　处：《兵器装备工程学报》2025年第1期249-257,共9页Journal of Ordnance Equipment Engineering

基　　金：军队后勤开放研究项目(BKJ21C027)。

摘　　要：在GNSS拒止条件下,基于卡尔曼滤波的方法可以融合无人机编队成员间相对距离和速度等信息,实现相对定位。但编队成员以相同速度飞行时不满足可观测性条件,滤波方法失效、定位精度下降。针对上述问题,在惯导/气压高度计组合导航的基础上提出一种协同差分相对定位算法。该算法通过高度解耦,将问题转化到二维平面,利用惯导信息和数据链测距信息得到从机含误差的水平位置。合理设置主机和从机之间的距离,可使从机水平位置误差值大致相同,再通过差分计算消去共同误差,最终获得从机之间的相对位置。蒙特卡洛仿真和敏感性分析表明满足主从距离条件后,相对定位精度主要由测距精度决定,测距精度为1、5、10 m时相对定位精度分别为2.3、5.8、11.7 m左右。且在编队成员同速飞行时可保持定位精度。该方法适用于中短航时的无人机编队相对定位,具有一定的可行性。To address the problem of relative localization for UAVs formations under GNSS-denied conditions,a cooperative differential relative localization method is proposed,based on multi-sensor information fusion(MSIF)and datalink range.Relative localization can be achieved by utilizing range and relative velocity measurements in a Kalman filtering paradigm.But when formation members move in a same velocity the observability conditions cannot be met,and the filtering method fails.To address the challenge mentioned above,a cooperative differential relative localization algorithm is proposed.An INS/barometer integrated navigation system is implemented to ensure the height accuracy.Then the localization problem is transformed into 2-D plane,the range and IMU information are utilized to correct the horizontal position errors of followers.By properly arranging the distance between leader and follower,the remaining error of followers are approximately identical.Finally,the remaining common error is eliminated in a difference calculation and the accurate relative localization between two followers is obtained.The Monte Carlo simulation demonstrates that the method can accurately estimate relative position in an UAVs formation and keep the accuracy when formation members move in a same velocity.While the condition of leader-follower distance is satisfied,the estimation accuracy is determined by range accuracy and free from the limit of IMU accuracy.The relative positioning accuracy is around 2.3,5.8,and 11.7 m for ranging accuracies of 1,5,and 10 m,respectively.The method is feasible for short or medium endurance UAVs formations.

关 键 词：无人机编队 多传感器信息融合 相对定位 协同定位 数据链测距 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]