Research On Multi-node Dynamic Networking Cooperative Navigation Technology

With the rapid development of navigation and positioning,the task of cluster cooperative warfare,which is carried by air formation and sea battle group,is gradually transiting from research stage to application stage.Collaborative warfare is not a simple extension of a single platform,but greatly improves the effective detection range,penetration probability,accurate target strike performance,fault tolerance and system reconfiguration capability of the cluster system through data interaction between platforms.This paper mainly studies the whole network cooperative navigation system and communication integration architecture.The research is divided into the overall architecture and network formation process,the workflow of cluster node networking,the principle of navigation and positioning,and the workflow.In the whole simulation analysis,two software STK-MATLAB are selected to simulate and analyze the whole cooperative navigation process.STK(satellite toolkit)can build a good flight scene,and MATLAB can analyze the data well,and combine the advantages of the two software to accomplish the simulation analysis task well.The working process of the system in multi-node dynamic networking cooperative navigation system is divided into three parts: communication signal searching process between adjacent nodes,multi-node dynamic networking process,single node positioning calculation process,broadcast operation positioning data process and information fusion process among multi-nodes.Initially,all nodes transmit and receive signals through antennas,and the neighboring nodes are searched among the nodes in the whole system.In the process of multi-node dynamic networking,the cooperative navigation module on each node uses high-precision interference angle measurement module and ranging module to obtain high-precision angle measurement and ranging information,and at the same time acquires broadcast measurement data between adjacent nodes to realize multi-node dynamic networking process.In the calculation process of single node location,cooperative navigation module uses high-precision angular and ranging information and broadcasting data received from adjacent nodes to calculate the location information of the node using UKF(unscented Kalman filter).In the process of broadcasting operation location data,the node transmits communication signals through the antenna to broadcast the location calculation data of the operation to the other nodes.The information fusion process between multiple nodes adopts a decentralized information fusion process.Each node broadcasts the navigation and positioning information of its own node,and then the received signal strength is used as the judgment condition to fuse the optimal positioning information of the whole network.Multi-node dynamic networking cooperative navigation system is simulated in STK-MATLAB in different scenarios(sea scene,land scene)and different networking motion configurations(uniform speed,uniform acceleration,then acceleration).At the same time,perturbation noise of aircraft and interference noise of natural environment are added in the process of motion.Under different simulation conditions,the data of simulation process proves the whole collaboration.The stability and correctness of navigation networking algorithm are superior to the traditional positioning navigation in anti-jamming and performance.