Aiming at the cooperative navigation of UAVs with IMU and other sensors, a cooperative navigation method based on EKF is proposed in this paper. Combined with the navigation information of UAV itself and the distance/bearing information between UAVs, the navigation information is shared in UAV group, so that the UAV equipped with low precision navigation equipment has higher-precision navigation results. The distributed processing and location optimization of cooperative navigation information are also demonstrated. The simulation results show that the proposed algorithm can minimize the mutual transmission of cooperative information between UAVs in the group, and the position accuracy of UAVs equipped with low precision navigation equipment is effectively constrained compared with that without optimization. This method can be extended to improve the positioning accuracy of every UAV in the swarm with a large scale.
Cooperative Localization of IMU-Based UAV Using Relative Observation by EKF
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 31 ; 311-321
2022-03-18
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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