Issue |
JNWPU
Volume 37, Number 2, April 2019
|
|
---|---|---|
Page(s) | 266 - 272 | |
DOI | https://doi.org/10.1051/jnwpu/20193720266 | |
Published online | 05 August 2019 |
Target Cooperative Location Method of Multi-UAV Based on Pseudo Range Measurement
基于距离测量的多无人机协同目标定位方法
School of Automation, Northwestern Polytechnical University, Xi’an 710072, China
Received:
10
April
2018
Based on the locations of several unmanned aerial vehicles (UAVs) and the pseudo ranges to a target, a target cooperative location method is proposed in this paper. The nonlinear equation about real pseudo distance information is transformed to another equation by using Tayloy formula. By solving the above equation, position information of the target can be obtained. Meanwhile, the certain equation's variables are the measured results of pseudo distances, location errors of UAVs and distance-measuring errors of range sensors. Besides, an online enumeration method is applied to search for the best formation, whose objective is to enhance the location accuracy, and the mentioned formation is mapped to the minimal GDOP. The simulations verify the validity and adaptability of the proposed method.
摘要
提出了一种利用多无人机与目标之间的距离以及无人机站址坐标估算目标位置的协同定位算法。通过一阶Taylor展开,把非线性距离测量方程转化为量测距离信息加上无人机的站址误差以及测距传感器的测距误差信息方程,进而对定位方程求解,得到目标的位置。最后利用在线枚举法寻求最小GDOP值所映射的最优编队队形以提高定位精度。计算机仿真结果验证了该算法的有效性和适应性。
Key words: UAV / cooperative location / GDOP / formation
关键字 : 无人机 / 协同定位 / GDOP / 编队队形
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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