ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Multi-UAV decentralized cooperative navigation method based on memory-fusion
Received date: 2022-12-29
Revised date: 2023-03-23
Accepted date: 2023-07-03
Online published: 2023-06-06
Supported by
National Natural Science Foundation of China(42074038);Research Open Subject Grant for the High Speed Aerodynamic Institute, China Aerodynamic Research and Development Center(2104RAL202102-1)
To address the communication delay problem during cooperative interaction of multiple Unmanned Aerial Vehicles （UAVs）， a memory-fusion based multi-UAV decentralized cooperative navigation algorithm is proposed. On the basis of the UAV inertial and Global Navigation Satellite System （GNSS） tightly combined navigation framework， the system state vector considering the effect of communication delay is established， and the system state error and its variance are derived. Then the optimal estimation model about the state of each UAV is constructed.， and the optimal state is estimated based on the criterion of minimum variance of the state error. A decentralized cooperative navigation algorithm for multiple UAVs is established based on inter-aircraft relative measurements， and a time delay processing method is proposed based on the memory fusion model. The results show that the proposed algorithm can effectively compensate for the loss of accuracy caused by communication delay and improve the positioning accuracy.
Zebo ZHOU , Zeliang ZHANG , Xin PENG , Gun LI , Yang TAO , Liangquan WANG , Xin LUO . Multi-UAV decentralized cooperative navigation method based on memory-fusion[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(20) : 628440 -628440 . DOI: 10.7527/S1000-6893.2023.28440
| 1 | 樊会涛， 闫俊. 空战体系的演变及发展趋势［J］. 航空学报， 2022， 43（10）： 527397. |
| FAN H T， YAN J. Evolution and development trend of air combat system［J］. Acta Aeronautica et Astronautica Sinica， 2022， 43（10）： 527397 （in Chinese）. | |
| 2 | 蔺玺坤， 梁晓龙， 任宝祥， 等. 基于模糊PID的无人机空中加油轨迹跟踪控制［J］. 兵器装备工程学报， 2022， 43（10）： 18-26. |
| LIN X K， LIANG X L， REN B X， et al. Aerial refueling trajectory tracking control for UAV based on fuzzy PID［J］. Journal of Ordnance Equipment Engineering， 2022， 43（10）： 18-26 （in Chinese）. | |
| 3 | ZHANG， CAO. Cooperative localization approach for multi-robot systems based on state estimation error compensation［J］. Sensors， 2019， 19（18）： 3842. |
| 4 | MA P， JI J， SUI J， et al. Research on cooperative formation flight control of multi-UAV with communication time delay［C］∥ 2021 International Conference on Control Science and Electric Power Systems （CSEPS）. Piscataway： IEEE Press， 2021： 54-58. |
| 5 | YAN Z P， WANG L， WANG T D， et al. Polar cooperative navigation algorithm for multi-unmanned underwater vehicles considering communication delays［J］. Sensors， 2018， 18（4）： 1044. |
| 6 | ZHOU S Q， REN J， HENG Y， et al. Distributed cooperative guidance for multi-missile system with time-varying delays and switching topologies［C］∥ 2020 39th Chinese Control Conference （CCC）. Piscataway： IEEE Press， 2020： 3464-3470. |
| 7 | XU B， WANG X Y， GUO Y， et al. A novel adaptive filter for cooperative localization under time-varying delay and non-gaussian noise［J］. IEEE Transactions on Instrumentation and Measurement， 2021， 70： 1-15. |
| 8 | HU C Q， FU L， YANG Y Y. Cooperative navigation and control for surface-underwater autonomous marine vehicles［C］∥ 2017 IEEE 2nd Information Technology， Networking， Electronic and Automation Control Conference （ITNEC）. Piscataway： IEEE Press， 2018： 589-592. |
| 9 | GOPALAKRISHNAN A， KAISARE N S， NARASIM HAN S. Incorporating delayed and infrequent measurements in extended Kalman filter based nonlinear state estimation［J］. Journal of Process Control， 2011， 21（1）： 119-129. |
| 10 | 卢健， 陈旭， 罗毛欣， 等. 考虑通信延迟的多自治水下航行器协同定位算法［J］. 控制理论与应用， 2020， 37（9）： 2061-2072. |
| LU J， CHEN X， LUO M X， et al. Cooperative localization algorithm considering of communication delay for autonomous underwater vehicles［J］. Control Theory & Applications， 2020， 37（9）： 2061-2072 （in Chinese）. | |
| 11 | XIAO G D， WANG B， DENG Z H， et al. An acoustic communication time delays compensation approach for master–slave AUV cooperative navigation［J］. IEEE Sensors Journal， 2017， 17（2）： 504-513. |
| 12 | GAO W， YANG J， LIU J， et al. Moving horizon estimation for cooperation localization of multiple unmanned underwater vehicles with communication delay［C］∥ 2014 IEEE/ION Position， Location and Navigation Symposium-PLANS. Piscataway： IEEE Press， 2014： 976-981. |
| 13 | 姚尧， 徐德民， 张立川， 等. 通信延迟下的多UUV协同定位： 基于航迹预测的实时更新算法［J］. 机器人， 2011， 33（2）： 161-168. |
| YAO Y， XU D M， ZHANG L C， et al. Cooperative localization of multiple UUVs with communication delays-a real-time update method based on path prediction［J］. Robot， 2011， 33（2）： 161-168 （in Chinese）. | |
| 14 | 高伟， 杨建， 刘菊， 等. 考虑通信延迟的多水面无人艇协同定位算法［J］. 哈尔滨工程大学学报， 2013， 34（12）： 1490-1496， 1513. |
| GAO W， YANG J， LIU J， et al. Cooperative location of multiple unmanned surface vessels（USVs） considering communication delay［J］. Journal of Harbin Engineering University， 2013， 34（12）： 1490-1496， 1513 （in Chinese）. | |
| 15 | YAO Y， XU D M， YAN W S. Cooperative localization with communication delays for MAUVs［C］∥ 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. Piscataway： IEEE Press， 2009： 244-249. |
| 16 | FENG P. Leader-follower cooperative navigation with communication delays for multi AUVs［C］∥ 2011 IEEE International Conference on Signal Processing， Communications and Computing （ICSPCC）. Piscataway： IEEE Press， 2011： 1-5. |
| 17 | 王文佳， 孙睿智， 高伟， 等. 基于通信延迟误差补偿的协同导航算法［J］. 火力与指挥控制， 2014， 39（12）： 27-30. |
| WANG W J， SUN R Z， GAO W， et al. Cooperative navigation based on error compensation of communication delays［J］. Fire Control & Command Control， 2014， 39（12）： 27-30 （in Chinese）. | |
| 18 | YANG H J， LI H， XIA Y Q， et al. Distributed Kalman filtering over sensor networks with transmission delays［J］. IEEE Transactions on Cybernetics， 2021， 51（11）： 5511-5521. |
| 19 | LARSEN T D， ANDERSEN N A， RAVN O， et al. Incorporation of time delayed measurements in a discrete-time Kalman filter［C］∥ Proceedings of the 37th IEEE Conference on Decision and Control （Cat. No.98CH36171）. Piscataway： IEEE Press， 2002： 3972-3977. |
| 20 | 严恭敏， 翁浚. 捷联惯导算法与组合导航原理［M］. 西安： 西北工业大学出版社， 2019： 80-82. |
| YAN G M， WENG J. Strapdown inertial navigation algorithm and integrated navigation principle［M］. Xi'an： Northwestern Polytechnical University Press， 2019： 80-82 （in Chinese）. | |
| 21 | 罗鑫. 复杂环境下的多无人机分散式协同导航技术研究［D］. 成都： 电子科技大学， 2022. |
| LUO X. Research on decentralized cooperative navigation technology of multiple UAVs in complex environment［D］. Chengdu： University of Electronic Science and Technology of China， 2022 （in Chinese）. |
/
| 〈 |
|
〉 |
CJA