According to the multi-unmanned aerial vehicle-oriented relative positioning method provided by the invention, a fusion strategy based on consistency is designed to fuse indirect estimation about a target obtained from neighbor nodes and direct estimation of the target by itself, and direct positioning and indirect positioning can be effectively fused by the method; therefore, the unmanned aerial vehicle which cannot directly measure the target can determine the position of the target with the help of the neighbor. The invention provides a discrete time observer based on distance and angle-of-arrival sampling by adopting a relative positioning method based on distance and angle-of-arrival aiming at the conditions that the dependence of infrastructure is very strong and the positioning precision is seriously influenced by the precision of the infrastructure. The observer can realize the positioning of the adjacent unmanned aerial vehicles only by interacting the speed, the angle of arrival and the distance of the sampling time between the adjacent unmanned aerial vehicles.

    本发明提出的一种面向多无人机的相对定位方法,设计了一种基于一致性的融合策略用以融合从邻居节点获得的关于目标的间接估计及自身对目标的直接估计,该方法可以有效的将直接定位和间接定位相融合,从而更好的将不能直接测量到目标的无人机也可以在邻居的帮助下确定目标的位置;针对基础设施依赖性很强,以及基础设施的精度严重影响定位精度的情况,本发明采用基于距离和到达角的相对定位方法,提出了一种基于距离和到达角采样的离散时间观测器,观测器只需邻近无人机间彼此交互采样时刻的速度、到达角和距离就可实现对邻近无人机的定位。


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    Titel :

    Relative positioning method for multiple unmanned aerial vehicles


    Weitere Titelangaben:

    一种面向多无人机的相对定位方法


    Beteiligte:
    GAN MINGGANG (Autor:in) / GUO JIA (Autor:in) / CHEN JIE (Autor:in) / HU KANG (Autor:in) / BAI YONGQIANG (Autor:in) / HE YUXUAN (Autor:in) / MA QIANZHAO (Autor:in) / SUN JIAN (Autor:in)

    Erscheinungsdatum :

    2023-08-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung