基于风速估计的无人机编队协同导航仿真  

Simulation of UAV Formation Collaborative Navigation Based on Wind Velocity Estimation

作　　者：鲁航 姜涛[1] 田德宇[1] LU Hang;JIANG Tao;TIAN De-yu(CH UAV Science and Technology Co.,Led.,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：《计算机仿真》2025年第2期51-55,共5页Computer Simulation

基　　金：军队后勤开放研究项目(BKJ21C027)。

摘　　要：无人机依赖纯惯导将产生累计误差,多普勒测速仪(DVL)和大气数据系统(ADS)可修正惯导误差实现组合导航。组合导航中ADS量测包含的风速需加以估计并去除。针对上述问题提出一种主从式无人机编队协同导航方案;长机通过SINS/DVL/ADS进行自身导航,同时利用DVL和ADS量测信息进行风速估计;僚机接收长机的风速估计信息,实现SINS/ADS组合导航。建立算法模型,并进行了仿真验证。仿真结果表明,长机和僚机速度和高度误差收敛;水平误差发散有效延缓,长机和僚机水平误差精度较纯惯导提升42.8%和40.5%;可满足无人机编队短时间飞行导航精度需求。UAV relying on pure INS(inertial navigation system)can make navigation errors accumulate,which can be corrected by DVL(doppler velocity log)and ADS(air data system)in integrated navigation.For integrated navigation,the wind velocity included in the ADS measurement needs to be eliminated.Aiming at the above problems,a master-slave UAV formation cooperative navigation scheme is proposed.In this scheme,SINS(strap-down inertial navigation system),DVL and ADS are involved.The master is self-navigated by SINS/DVL/ADS integrated navigation.The wind velocity is estimated by the master using velocity measurements from DVL and ADS.The slave receives the wind estimation from the master and implements SINS/ADS integrated navigation.The algorithm is established and tested.The simulation result shows that the scheme can ensure the error of velocity and height bounded and the divergence of horizontal position error is effectively delayed.Compared to pure INS,the horizontal position accuracies of master and slave are respectively improved by 42.8%and 40.5%,meeting the navigation accuracy requirements for short-duration flight of drone formations.

关 键 词：无人机编队 协同导航 风速估计 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]