摘要
针对无人机集群的相对定位问题,提出了以载波相位为观测量的相对定位方法。首先,设计了一种具有三角几何关系的天线构型,并建立一种无人机间的相对观测模型。其次,利用扩展卡尔曼滤波算法估计无人机位置、速度状态参数,从而解算出无人机姿态角及其角速率参数。最后,为研究无人机集群的协同定位性能,将一架主无人机扩展至3架主无人机,从而获得主无人机数量和疏密分布情况对从无人机定位精度的影响。仿真结果表明:该机间相对观测模型可有效估计出从无人机位置、速度状态参数,并据此解算出的无人机姿态角及姿态角速率参数能够满足精度要求,验证了该方法的可行性。此外,在增加主无人机数量以及分散布置的情况下,该方法可显著提高无人机的状态估计精度。
We proposed a new method for the relative positioning problem in UAV clusters using carrier phase as the observation data,which includes three features.First,an antenna configuration with a triangular geometric relationship is designed to build a relative observation model between UAVs.Second,the extended Kalman filter algorithm is utilized to calculate the UAV position and velocity state parameters.The UAV attitude angle and its angular rate parameters are further solved.Third,to study the cooperative positioning performance of UAV clusters,one master UAV is extended to three master UAVs,thus obtaining the effect of the number and layout of master UAVs on UAV positioning accuracy.The simulation results show that the inter-aircraft relative observation model can effectively estimate the UAV position and velocity state parameters.The further solved UAV attitude angle and its angular rate parameters can meet the accuracy requirements,which verifies the feasibility of the method.In addition,with an increased number of master UAVs and a decentralized layout,the method can significantly improve the accuracy of the UAV's state estimation.
作者
潘礼规
尹佳琪
徐春光
PAN Ligui;YIN Jiaqi;XU Chunguang(School of Aeronautics and Astronautics,Sun Yat-sen University,Shenzhen 518107,China;Information Technology Research Institute of China Aerospace Science and Technology,Beijing 100144,China)
出处
《中山大学学报（自然科学版）（中英文）》
CAS
CSCD
北大核心
2023年第3期125-136,共12页
Acta Scientiarum Naturalium Universitatis Sunyatseni
