Multi-vehicle collaborative position improves the position accuracy of the entire fleet through the information interaction between vehicles. Traditional methods are mostly based on satellite navigation systems, and navigation accuracy is difficult to guarantee in GNSS denied environment. This paper presents a ranging datalink based collaborative navigation method for multi-vehicles. On each vehicle, this paper establishes the odometry, inertial navigation system (INS) and datalink system to obtain the absolute navigation information and relative navigation information of the vehicle. The relative distance between each vehicle is attainted by the datalink system. A four vehicles scene is considered. This paper establishes the speed and angle measurement model of sensors and the ranging model of datalink, and derives the state equation and measurement equation of the cooperative system as a whole. The simulation verification shows that the assistance of the datalink system can improve the absolute position and relative position accuracy of each vehicle.
Multi-vehicle Collaborative Navigation Method Based on Datalink Relative Distance in GNSS Denied Environment
Lect. Notes Electrical Eng.
2021-10-30
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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