The invention discloses an unmanned aerial vehicle formation relative navigation method based on an inertia/data link, and belongs to the field of unmanned aerial vehicle formation relative navigation. The method comprises the following steps: firstly, obtaining initial position coordinates of each unmanned aerial vehicle node of an unmanned aerial vehicle formation through an inertial navigationpolygon formed by airborne inertial navigation output of the unmanned aerial vehicle nodes and a relative distance measurement polygon according to a double-center conversion method; and then completing prediction of relative positions, relative speeds, relative accelerations and relative quaternions among the unmanned aerial vehicle nodes by establishing a relative navigation state equation, andfinally realizing relative navigation among the unmanned aerial vehicle formation nodes by taking relative distance measurement information among the unmanned aerial vehicle nodes as quantity measurement. According to the method, high-precision relative navigation information between the unmanned aerial vehicle nodes in the formation can be obtained, and the position output precision of the unmanned aerial vehicle node airborne inertial navigation system can be improved. The method is suitable for unmanned aerial vehicle formation relative navigation of at least more than seven unmanned aerialvehicles in a satellite denial environment.

    本发明公开了一种基于惯性/数据链的无人机编队相对导航方法,属于无人机编队相对导航领域。本发明首先通过无人机节点机载惯导输出构成的惯导多边形与相对测距量测多边形根据双中心转换法得到无人机编队各无人机节点初始位置坐标;然后通过建立相对导航状态方程完成对无人机节点间相对位置、相对速度、相对加速度、相对四元数的预测,最后利用无人机节点间的相对测距信息作为量测量实现无人机编队节点间相对导航。本发明不仅仅能够得到编队中无人机节点间高精度的相对导航信息,同时能够提高无人机节点机载惯导系统的位置输出精度。本发明适用于卫星拒止环境下至少7架无人机以上的无人机编队相对导航。


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    Title :

    Unmanned aerial vehicle formation relative navigation method based on inertia/data link


    Additional title:

    一种基于惯性/数据链的无人机编队相对导航方法


    Contributors:
    ZHU XUDONG (author) / LAI JIZHOU (author) / LYU PIN (author) / ZHOU ZIHAN (author) / DAI YUTING (author)

    Publication date :

    2020-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge



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