Research On Cooperative Navigation Method For Aircraft In Formation

In the era of vigorous development of the UAV industry,the application of UAVs is developing in the direction of formation and clustering.In order to achieve better results in controling the formation of UAVs or controling multiple UAVs in a cluster to track certain trajectories,the UAVs' ability to obtain reliable and accurate navigation parameters becomes very important.GNSS/SINS integrated navigation is a commonly used navigation algorithm,but the GNSS signal is weak,so it is not available in some special cases,and it's not reliable enough;it is costly to improve the navigation accuracy of all UAVs singly in a formation,so UAVs with high navigation accuracy and poor accuracy always coexist in a formation.In order to realize the navigation and positioning function for UAVs in the formation and solve the problems about reliability and overall accuracy of the navigation,this dissertation will research from the following aspects:For the unitarity of the follow-up research,first the coordinate system and rotation sequence used in this dissertation are specified briefly,the solution process of strapdown inertial navigation is described briefly,and the error of inertial sensors is analyzed.Then the integrated navigation system with embedded AHRS is studied in this dissertation.The specific contents include: deducing the model of the GNSS/SINS integrated navigation system;using quaternion and extended Kalman filtering to construct an attitude and heading reference system;simulating the AHRS and the integrated navigation system with embedded AHRS.After researching and implementing the basic integrated navigation algorithm,the master-slave cooperative navigation method is studied in this dissertation.Based on the relative navigation information,a single-host collaborative navigation model is established;based on the single-host model and the federal Kalman filter framework,this paper also proposes a collaborative navigation algorithm that can combine GNSS and multi-host measurement information;subsequently,based on the simulation experiments,the performance of collaborative navigation method proposed in this dissertation is discussed.