Volume 37, Number 2, April 2019
|Page(s)||266 - 272|
|Published online||05 August 2019|
Target Cooperative Location Method of Multi-UAV Based on Pseudo Range Measurement
School of Automation, Northwestern Polytechnical University, Xi’an 710072, China
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.
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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