基于数据链测距的分布式三维协同定位方法  

Distributed Three-Dimensional Cooperative Localization Method Based on Data Link Ranging

作　　者：马德仁 王振桓[1] 张荣兵 李奇奋 孔龙涛 MA Deren;WANG Zhenhuan;ZHANG Rongbing;LI Qifen;KONG Longtao(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China;Beijing Research Institute of Telemetry,Beijing 100076,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001 [2]北京遥测技术研究所,北京100076

出　　处：《遥测遥控》2025年第2期12-19,共8页Journal of Telemetry,Tracking and Command

基　　金：国家自然科学基金(62473107)。

摘　　要：针对复杂电磁环境下低空飞行无人机群的绝对、相对位置服务需求,本文提出了一种基于高精度测距信息的三维分布式无人机协同定位方法。集群中所有节点配备相同精度的导航定位传感器,采用惯导误差作为状态变量、高度计测高值作为高度量测,以及0.1 Hz的视觉匹配信息作为位置速度量测值修正绝对定位误差。利用节点间测距值为协同观测量修正相对定位误差,采用扩展卡尔曼滤波方法融合测距值与惯导/高度计/视觉松组合系统输出。构建6个节点的无人机群飞行试验场景,完成低空飞行场景仿真验证。经验证:通过协同定位算法,绝对位置精度提升61%,相对定位精度提升93%,验证了协同定位方法的有效性。Aiming at the absolute and relative location service needs of low-altitude flight drones in complex electromagnetic environments,a three-dimensional distributed drone cooperative localization method based on high-precision ranging information is proposed.All nodes in the cluster are equipped with navigation positioning sensors with the same accuracy,and use the inertial error as a state variable,the height value of the altimeter as a height measurement and 0.1 Hz visual matching information as position and speed measurements to correct the absolute positioning error of the nodes.Use the ranging values of the nodes as cooperative measurements to correct the relative positioning error,and use the extended Kalman filter to fuse the measuring range and inertial/altimeter/vision system output.Construct the flight test scene of the 6-node drone group to complete the simulation verification of low-altitude flight scenes.Verified,through the cooperative positioning algorithm,the absolute position accuracy is improved by 61%,and the relative positioning accuracy increases by 93%,which proves the effectiveness of the cooperative localization method.

关 键 词：协同定位 数据链 惯性导航系统 卫星导航拒止 

分 类 号：TN967.1[电子电信—信号与信息处理] V279[电子电信—信息与通信工程]