多无人机辅助定位信标的区域导航定位算法

doi:10.7527/S1000-6893.2018.22172

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2018, Vol. 39 ›› Issue (10): 322172-322172.doi: 10.7527/S1000-6893.2018.22172

• Electronics and Electrical Engineering and Control • Previous Articles Next Articles

Regional navigation algorithm assited by locations of multi UAVs

XU Jianxin, XIONG Zhi, CHEN Mingxing, LIU Jianye

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2018-03-29 Revised:2018-07-17 Online:2018-10-15 Published:2018-07-27
Supported by:
National Natural Science Foundation of China (61533008, 61533009, 61673208, 61703208); Advanced Research Project of the Equipment Development (30102080101); the "333 project" in Jiangsu Province (BRA2016405); the Scientific Research Foundation for the Selected Returned Overseas Chinese Scholars (2016); Natural Science Fundation of Jiangsu Province(BK20181291, BK20170815, BK20170767); Aeronautical Science Foundation of China (20165552043, 20165852052); Foundation of Jiangsu Key Laboratory "Internet of Things and Control Technologies" & the Priority Academic Program Development of Jiangsu Higher Education Institutions, Science and Technology on Avionics Integration Laboratory; the Fundamental Research Funds for the Central Universities (NZ2018002, NJ20170005, NP2017209, NZ2016104); the Funding of Jiangsu Innovation Program for Graduate Education and the Fundamental Research Funds for the Central Universities (KYLX15_0264)

Abstract

Abstract: A regional navigation and positioning scheme is proposed in the case of unavailability of the satellite navigation system under interference. The Unmanned Aerial Vehicles (UAVs) are used as an airborne signal broadcasting platform to broadcast location information and synchronous clock signals to the terrestrial user. The terrestrial user solves its real-time position through the locations and the distances from UAVs. Taking the land vehicle as an example, this paper proposes the Levenberg-Marquardt (LM) algorithm to realize its positioning and eliminate the clock error of the terrestrial user receiver. A two-step least square algorithm is proposed. To realize the continuous positioning of the land vehicle, an integrated navigation method is designed by using the vehicle inertial sensor output and The simulation results show that in the GNSS rejection environment, by using the inertial sensor output of the terrestrial user and the signal broadcasting by the UAVs, the continuous and reliable position information of the terrestrial user can be obtained through the Kalman filter, meeting the positioning requirements of the terrestrial user within a certain area.

Key words: GNSS denial, regional navigation, LM algorithm, two-step least square, integrated navigation

CLC Number:

V249.31

XU Jianxin, XIONG Zhi, CHEN Mingxing, LIU Jianye. Regional navigation algorithm assited by locations of multi UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(10): 322172-322172.

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Regional navigation algorithm assited by locations of multi UAVs

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