无人集群组网系统相对定位技术研究

Study on relative positioning method for UAV cluster system

摘要:

针对大规模无人集群在卫星导航拒止环境下的相对定位需求，研究一种基于无人集群自组网数据链测距的相对定位技术，通过集群组网测距信息构建广义距离平方阵，经过双中心处理化和特征值分解后即得到相对定位结果，最后通过仿真评估了该方法在不同测距误差和不同集群规模下的定位精度。结果表明：测距误差是影响定位性能的最主要误差来源，当节点数大于30时定位误差受节点个数影响较小。

Abstract:

In view of the relative positioning requirements of massive UAV cluster in the GNSS rejection environment, firstly, a relative positioning method is studied based on ranging in the UAV cluster Ad-hoc network. The generalized distance square matrix is constructed by the ranging information of the Ad-hoc network, and then the relative positioning results are obtained after the two-center processing and eigenvalue decomposition. Finally, the positioning accuracy of this proposed method under different ranging errors and UAVs quantity is evaluated by simulation. Results show that, the ranging error is the critical factor that affects the positioning performance. When the cluster is greater than 30 UAVs, the positioning error is relatively less affected by UAVs quantity.