Disclosed is an online dynamic mutual-observation modeling method for unmanned aerial vehicle (UAV) swarm collaborative navigation, which includes: first performing first-level screening for members according to the number of usable satellites received by a satellite navigation receiver of each member, to determine the role of each member in collaborative navigation at the current time, and then establishing a moving coordinate system with each object member to be assisted as the origin, and calculating coordinates of each candidate reference node; and on this basis, performing second-level screening for the candidate reference nodes according to whether mutual distance measurement can be performed with each object member, to obtain a usable reference member set, and preliminarily establishing a dynamic mutual-observation model; and finally, optimizing the model by means of iterative correction, and conducting a new round of dynamic mutual-observation modeling according to an observation relationship in the UAV swarm, its own positioning performance, and role change in collaborative navigation, thus providing an accurate basis for effectively realizing UAV swarm collaborative navigation.


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    Title :

    ONLINE MODELING METHOD FOR DYNAMIC MUTUAL OBSERVATION OF DRONE SWARM COLLABORATIVE NAVIGATION


    Contributors:
    WANG RONG (author) / XIONG ZHI (author) / LIU JIANYE (author) / LI RONGBING (author) / LI CHUANYI (author) / DU JUNNAN (author) / CHEN XIN (author) / ZHAO YAO (author) / CUI YUCHEN (author) / AN JINGKE (author)

    Publication date :

    2021-08-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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