Research On The Key Technology Of Multi-UAVs Cooperative Navigation In GNSS-Denied Environments

The synthetization of Inertial Navigation System and Global Navigation Satellite System is wide used in various industries because of its complementarity.In GNSS/INS integrated navigation system,the information of GNSS can compensate the error of inertial device,but the whole localization accuracy still dependence on the inertial device accuray.The GNSS denial environment widely exist in some war environment,the localization accuracy of aircraft is affected by inertial device,and the main reason for the error of inertial navigation is the bias of inertial device which caused by some system error such as the misalignment angle and random error.If there is no absolute position information for a long time,the divergence of inertial navigation error is inevitable.At the same time,in the future,the cooperative mission is the inevitable mode of warfare.Collaborative detection,control and perception are more efficient and secure than traditional warfare mode.Therefore,because of the advantages above,how to reduce the error of inertial navigation solution by cooperative mode has become the popular research direction.This paper focuses on the important issues of multi-aircraft collaborative navigation in the GNSS denial environment,and the main contents are as follows:(1)the theory of inertial navigation is introduced,the error source is analyzed and the navigation error equation is given.At the same time,this paper gives the error equation of centralized kalman filter for multiple aircraft and deduces the distributed kalman filter error equation to solve the problem of too much computation in high dimension.(2)In this paper,the azimuth angle of the antenna is optimized for Zigbee distance measurement.(3)This paper presents the application of collaborative navigation under specific environment.The azimuth angle optimization of antenna algorithm proposed in this paper greatly reduces the error of inertial devices by the distance constraint.The directional optimization of Zigbee distance measurement is presented,and the localization accuracy of Zigbee distance measurement have been significantly improved.Finally,we presented a special scene experiment,and the results show the synthetization adaptive localization algorithm of fingerprint recognition and trilateration can significantly improve the positioning accuracy when the localization environmental change.