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.
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
.
DOI: 10.7527/S1000-6893.2018.22172
[1] PAUL W, NICK W, SALLY B. GPS Jamming and the impact on maritime navigation[J]. Journal of Navigation, 2009, 62(2):173-187.
[2] BONEBRAKE C, O'NEIL L R. Attacks on GPS time reliability[J]. IEEE Security & Privacy, 2014, 12(3):82-84.
[3] 翟建勇, 吕红丽. 高精度区域导航系统技术研究[J]. 现代导航, 2016, 7(2):79-85. ZHAI J Y,LYU H L. Research on regional navigation system of high accuracy technology[J]. Modern Navigation, 2016, 7(2):79-85(in Chinese).
[4] BARNES J, RIZOS C, KANLI M, et al. A positioning technology for classically difficult GNSS environments from locata[C]//Position, Location, And Navigation Symposium. Piscataway, NJ:IEEE Press. 2006:715-721.
[5] JIANG W, LI Y, RIZOS C. A multi sensor navigation system based on an adaptive fault-tolerant GOF algorithm[J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 18(1):103-113.
[6] LI T, WANG J, HUANG J. Analysis of ambiguity resolution in precise pseudolite positioning[C]//International Conference on Indoor Positioning and Indoor Navigation.Piscatawy, NJ:IEEE Press, 2013:1-7.
[7] KIM D, PARK B, LEE S, et al. Design of efficient navigation message format for UAV pseudolite navigation system[J]. IEEE Transactions on Aerospace & Electronic Systems, 2008, 44(4):1342-1355.
[8] 朱祥维, 徐博, 李井源, 等. 基于广义伪卫星的新一代GNSS增强系统[J]. 测绘通报, 2016(2):1-7. ZHU X W, XU B, LI J Y, et al. New generation GNSS augmentation system based on generalized pseudolite[J]. Bulletin of Surveying and Mapping, 2016(2):1-7(in Chinese).
[9] YU F, SHI H Q, LU H. Research on dynamic two-way time synchronization for air-borne pseudo-satellite in wide area for BD navigation satellite[C]//Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference. Piscataway, NJ:IEEE Press, 2014:1477-1482.
[10] 祝强, 李少康, 徐臻. LM算法求解大残差非线性最小二乘问题研究[J]. 中国测试, 2016, 42(3):12-16. ZHU Q, LI S K, XU Z. Study of solving nonlinear least squares under large residual based on Levenberg-Marquardt algorithm[J]. China Measurement & Test, 2016, 42(3):12-16(in Chinese).
[11] 刘基余. GNSS伪距单点定位及其实现[J]. 数字通信世界, 2016(S1):1-6. LIU J Y. GNSS Pseudorange single point positioning and its implementation[J]. Digital Communication World, 2016(S1):1-6(in Chinese).
[12] 熊智, 邵慧, 华冰, 等. 改进故障隔离的容错联邦滤波[J]. 航空学报, 2015, 36(3):929-938. XIONG Z, SHAO H, HUA B, et al. An improved fault tolerant federated filter with fault isolation[J]. Acta Aeronautica et Astronautica Sinica, 2015, 36(3):929-938(in Chinese).
[13] HAN H, WANG J, DU M. GPS/BDS/INS tightly coupled integration accuracy improvement using an improved adaptive interacting multiple model with classified measurement update[J]. Chinese Journal of Aeronautics, 2018, 31(3):556-566.
[14] 吴高峰, 高晓光, 符小卫. 一种基于多无人机的中继节点布置问题建模与优化方法[J]. 航空学报, 2017, 38(11):236-248. WU G F, GAO X G, FU X W. Modeling and optimization method of relay node placement using multi-UAV[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(11):236-248(in Chinese).
[15] 张春海, 何成龙, 王垚. 基于蜂窝构型的空基伪卫星定位网络[J]. 无线电工程, 2012, 42(10):1-3. ZHANG C H, HE C L, WANG Y. Pseudolite positioning network based on honeycomb distribution[J]. Radio Engineering, 2012, 42(10):1-3(in Chinese).
CJA