Transactions of Nanjing University of Aeronautics & Astronautics
Cooperative Positioning Method for Multi-unmanned Systems Based on Confidence Evaluation
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Abstract:
In order to solve the problem of limited computational resources of multi-unmanned systems airborne navigation platform， a distributed cooperative positioning method based on confidence evaluation is proposed. Firstly， the impact of ranging error， priori information， spatial geometric configuration and adjacent nodes count on cooperative positioning performance are analyzed individually. Secondly， a confidence evaluation method for measurement information of adjacent nodes is designed according to the cooperative positioning principle， which comprehensively considers the coupling relationship between influencing factors. Finally， a distributed cooperative navigation filter based on inter-vehicle ranging is designed. Simulation studies show that confidence evaluation method proposed in this paper can effectively characterize the contribution of measurement information to positioning results， and positioning accuracy under the proposed method is improved by more than 15% compared with the traditional screening methods based on optimal geometric configuration and closest distance.
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This work was supported in part by National Natural Science Foundation of China （Nos.62073163， 62103285， 62203228）， National Defense Basic Research Program （No.JCKY2020605C009）， Aeronautic Science Foundation of China （Nos.ASFC-2020Z071052001， 202055052003）， Foundation Strengthening Program Technology 173 Field Fund （No.2021-JCJQ-JJ-0308）.
Clc Number:
V249.3
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