Aiming at the problem that it is difficult for cluster UAVs to function with the combination of traditional GPS and inertial navigation when satellite signals are obstructed, a cooperative navigation algorithm for cluster UAVs is designed, in which UAVs equipped with low-precision inertial devices acquire the position information of UAVs equipped with high-precision inertial devices within the cluster through a data chain, and the position, velocity, and attitude information outputted from their own low-precision inertial devices is corrected by the trace-free Kalman filter to reduce the navigation error. And attitude information to reduce the navigation error. After 1100 s simulation, the latitude and longitude errors of the low-precision UAV converge to 1 × 10−6 degrees, which is about 0.1 m, the northward and eastward velocity errors are reduced to 0.01 m/s, and the pitch, heading, and roll angle errors are less than 10% of the initial alignment error, which improves its navigation accuracy.


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    Title :

    A Position Velocity and Attitude Error Correction Method for Cluster UAVs Based on Traceless Kalman Filter Co-navigation


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Liu, Lianqing (editor) / Niu, Yifeng (editor) / Fu, Wenxing (editor) / Qu, Yi (editor) / Danting, Sheng (author) / Jin, Cheng (author) / Fengyi, Li (author) / Mingrui, Hao (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024



    Publication date :

    2025-03-22


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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