The UAV swarm technology can expand the scope of work and improve overall operational efficiency. The high-precision cooperative navigation system provides support and guarantee for improving the overall operational efficiency of the swarm. In this paper, a TDOA (time difference of arrival) cooperative navigation model is established by taking UAVs with high accuracy of airborne navigation equipment as reference UAVs and UAVs with the low accuracy of navigation equipment as UAVs to be positioned and measuring the relative distance between the UAVs. Aiming at the shortcomings of the traditional Chan algorithm, such as low operating efficiency and large position solution error in the formation environment of a specific UAVs formation, a cooperative positioning solution algorithm based on the spherical interpolation method was proposed. On this basis, the Kalman filter is used to correct the navigation error of the positioning UAV. In this paper, the simulation comparison verification between the spherical interpolation algorithm and the Chan algorithm is performed from factors such as the reference UAV position error, relative distance measurement error, and algorithm efficiency. Simulation results show that, compared with the Chan algorithm, the spherical interpolation algorithm proposed in this paper can improve the navigation accuracy of the UAVs to be positioned in the UAV swarm, and improve the algorithm operation efficiency, when the UAVs are flying in the same plane.
Research on Cooperative Navigation Algorithm of the UAV Swarm Based on Spherical Interpolation
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Article/Chapter (Book)
Electronic Resource
English
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