Collaborative Navigation Method Study For Cluster Aerocrafts

In recent years,there are more and more applications around aircraft,with more application fields and more complicated tasks.A single aircraft is not enough to meet all the requirements.Aircraft clustering can meet the needs of expanded operations and provide more complex functional services.Cluster operations rely on accurate and timely navigation and positioning,so it is urgent to research and design a high-performance cluster collaborative navigation system.At present,the research of this technology is still in its infancy.Most of the researches only consider one or two aspects of clustering quantity,navigation accuracy,positioning cost and autonomy,and do not give a more comprehensive unified and universal cluster collaborative navigation method and simulation environmentThis paper,from the above aspects,simplifies the equipment and optimizes the process,and gives a more general scheme: design the relative positioning cooperative navigation algorithm,and establish a general framework of the cluster cooperative navigation algorithm based on communication link;On this basis,the absolute positioning cooperative navigation algorithm is designed to make the cluster cooperative navigation algorithm more suitable for the actual application scenarios;Finally,the simulation results are verified by the simulation scenario built by professional software.Firstly,two collaborative optimization algorithms are designed based on the relative positioning technology of ranging angle and multi-point distance measurement.Based on the observation data,combined with the improved multi model tracking free Kalman filter,the redundant positioning results of multiple aircraft in the cluster are further optimized by clustering or filtering data fusion algorithm,which improves the positioning accuracy.Then,two kinds of cooperative optimization absolute positioning algorithms are extended and a more comprehensive combination strategy is designed.The original data are obtained based on the inertial navigation and global positioning technology respectively.Then,the collaborative optimization of the cluster navigation is realized by the classification of positioning accuracy,the update of the same level data fusion estimation and the coverage of low-level precision positioning by high-level precision positioning.In view of the advantages and disadvantages of inertial navigation and satellite positioning,the paper designs the combination strategy,reduces the cost of cluster navigation equipment and improves the long-term accuracy of the overall cluster navigation.The simulation scene adopts the satellite tool kit(STK)software to conduct dynamic modeling.Based on the virtual technology provided by STK,different aircraft trajectory designed based on the motion model of uniform speed,uniform acceleration and variable acceleration is established at the junction of Virtual Earth,sea and land.The cluster contains more complex curves such as straight line,U curve and S curve,which includes24 aircraft.The algorithm is verified by MATLAB based on simulation scene data.The results show that the relative positioning accuracy of collaborative optimization design is decimeter level,and the maximum deviation in scene simulation period is less than half meter;The absolute positioning accuracy of collaborative optimization design is meter level.In the scene simulation period,the maximum deviation of the algorithm based on INS design is less than 8m,the maximum deviation of the algorithm based on satellite design is less than 5m.The error after combination of the two is not only divergent.While the navigation can be used independently,the maximum deviation in the scene simulation period is slightly greater than 4m.This paper,based on the actual needs,comprehensively designs and verifies the algorithm,simplifies the navigation equipment by using the relative positioning between the machines,improves the navigation efficiency by using multi machine parallel computing,improves the navigation accuracy by using filter fusion,and solves the problem that the current collaborative navigation method of cluster aerocrafts lacks unified common methods and simulation environment,It provides theoretical and simulation basis for the cluster application of aircraft.