WO2021018113A1 - 用于无人机蜂群协同导航的动态互观测在线建模方法 - Google Patents
用于无人机蜂群协同导航的动态互观测在线建模方法 Download PDFInfo
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- 239000013598 vector Substances 0.000 claims description 35
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0052—Navigation or guidance aids for a single aircraft for cruising
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
Definitions
- the traditional integrated navigation system model is mainly based on the measurement information of the fixed reference coordinate system and the fixed performance, while the relative position and positioning performance of the members of the drone colony are constantly changing during the flight, and the members cooperate in the colony.
- the role of the assisted object node or the assisted reference node in navigation is also constantly changing.
- the traditional integrated navigation model cannot meet the needs of drone swarm cooperative navigation.
- Step 1 Number each member in the drone swarm and denote it as 1, 2, ..., n.
- the first level Filter to determine the role of each member in the collaborative navigation: set the member whose number of available stars is less than 4 as the object member, and mark the object member number set as A; set the member whose number of available stars is not less than 4 as the candidate reference Members, mark the set of candidate reference member numbers as B; and
- Step 3 Obtain the position indicated by the airborne navigation system of the candidate reference member j and its positioning error covariance, and convert the position indicated by the airborne navigation system of the candidate reference member j and its positioning error covariance to the object member established in step 2.
- i In the local northeast sky geographic coordinate system, j represents the member number and j ⁇ B;
- Step 4 According to whether each object member and each candidate reference member can measure each other, perform a second-level screening of the candidate reference members, and determine the role of each candidate reference member in the collaborative navigation: set with the object The candidate reference member for which member i can measure each other is the available reference member of object member i , and the set of available reference member numbers of object member i is recorded as C i , and
- Step 5 Calculate the mutual observation vector of the object member and its available reference member, and calculate the vector projection matrix of the object member and its available reference member according to the mutual observation vector;
- Step 6 Calculate the object position projection matrix of the object member and its available reference members and the available reference position projection matrix
- Step 7 using the vector projection matrix obtained in step 5 and the object position projection matrix obtained in step 6, to calculate the state mutual observation matrix between the object member and its available reference members;
- Step 8 Use the vector projection matrix obtained in step 5 and the available reference position projection matrix obtained in step 6 to calculate the noise mutual observation matrix between the object member and its available reference member; use the noise mutual observation matrix to calculate the difference between the object member and its available reference member Inter-observation noise covariance;
- Step 9 Use the state mutual observation matrix obtained in Step 7 to establish a mutual observation set matrix of all available reference members of the object member;
- Step 10 Use the mutual observation noise covariance obtained in Step 8 to establish the mutual observation set covariance of the object member for all available reference members;
- Step 11 Using the mutual observation vector obtained in Step 5, establish the mutual observation set observations of all available reference members of the object member;
- Step 12 According to the mutual observation set matrix obtained in step 9, the mutual observation set covariance obtained in step 10, and the mutual observation set observation measurement obtained in step 11, a dynamic mutual observation model for drone swarm cooperative navigation is established, and based on the dynamic mutual observation The observation model performs weighted least squares positioning of the object member, obtains the longitude correction, latitude correction, and altitude correction of the object member's position, and calculates the corrected longitude, latitude, and altitude;
- Step 13 using the state mutual observation matrix obtained in step 7 and the mutual observation noise covariance obtained in step 8 to calculate the object member position estimation covariance;
- Step 14 Use the object position projection matrix obtained in step 6 and the longitude correction, latitude correction, and height correction of the object member position obtained in step 12 to calculate the online modeling error; when the online modeling error is less than the preset When the dynamic mutual observation online modeling error control standard is used, it is determined that the online modeling iteration is converged, that is, the online modeling ends and the process goes to step 15, otherwise, it returns to step 5 to iteratively correct the mutual observation model;
- Step 15 Judge whether the navigation is over, and if so, end; otherwise, return to step 1 to perform modeling at the next moment.
- the mutual observation vector in step 5 is expressed as:
- ⁇ ik , ⁇ L ik , and ⁇ h ik are the components of the east, north, and sky directions in the northeast sky geographic coordinate system of the target member i, respectively, the difference between the longitude, latitude, and height of the airborne navigation system of the target member i and its available reference member k, R N to earth reference ellipsoid prime vertical radius of curvature
- f is the earth reference ellipsoid flat rate
- L i, h i i object members are on-board navigation system output latitude, altitude.
- the object position projection matrix in step 6 is expressed as:
- Object position of the projection matrix object members i and its available reference member of k, ⁇ ik, ⁇ L ik are object members i and its available reference member k on-board navigation system outputs the longitude difference between the latitude of, L i, h i are object members i
- the latitude and altitude output by the airborne navigation system, R N is the radius of curvature of the earth reference ellipsoid 90 unitary circle.
- the available reference position projection matrix in step 6 is expressed as:
- L i, h i i object members are on-board navigation system output latitude, altitude, R N to earth reference ellipsoid prime vertical radius of curvature.
- the state mutual observation matrix in step 7 is expressed as:
- the noise mutual observation matrix in step 8 is expressed as:
- the projection matrix is the available reference position of the object member i and its available reference member k.
- the online modeling error amount in step 14 is expressed as:
- the present invention adopts the above technical solutions and has the following technical effects:
- the present invention considers the difference in positioning performance between reference members, and improves the modeling accuracy by integrating the positioning error of the reference member and the measurement error of the ranging sensor and introducing weighted iteration.
- the present invention is highly flexible and adapts to the mutual observation conditions under different mutual positional relationships and distributions among drone swarms and members of different sizes.
- Fig. 1 is a flowchart of a dynamic mutual observation online modeling method for drone swarm cooperative navigation of the present invention.
- Fig. 2 is a graph of iterative modeling of the object member moving coordinate system constructed by the method of the present invention.
- Fig. 3 is a graph of position error in iterative modeling using the method of the present invention.
- Fig. 4 is a curve diagram of longitude, latitude, and height errors for iterative modeling using the method of the present invention.
- the present invention provides a dynamic mutual observation online modeling method for drone swarm collaborative navigation, provides effective support for drone swarm collaborative navigation, and improves the flexibility and accuracy of collaborative navigation modeling.
- the scheme is shown in Figure 1. Instructions, including the following steps:
- the members are screened at the first level to determine the role of each member in the coordinated navigation: set the number of available satellites received to be less than The member of 4 is the object member, and the object member number set is marked as A; the member whose number of available stars is not less than 4 is the candidate reference member, and the candidate reference member number set is marked as B; and
- step (3) Obtain the position indicated by the airborne navigation system of the target member in step (2), and use the indicated position as the origin to establish the local northeast sky geographic coordinate system of the target member; record the indicated position of the target member i airborne navigation system as ( ⁇ i , Li , h i ), the corresponding established local northeast sky coordinate system is expressed as O i XYZ, where ⁇ represents longitude, L represents latitude, and h represents altitude, where i represents member number and i ⁇ A.
- step (3) Obtain the position indicated by the airborne navigation system of the candidate reference member in step (2) classification and its positioning error covariance, and convert it to the local northeast sky geographic coordinate system of the target member established in step (3); record
- the position indicated by the airborne navigation system of the reference member j is ( ⁇ j , L j , h j ), where j represents the member number and j ⁇ B.
- each object member and each candidate reference member can measure each other in turn, perform a second-level screening of candidate reference members to determine the role of each candidate reference member in collaborative navigation: set and The candidate reference member of object member i that can measure each other is the available reference member of object member i , and the set of available reference member numbers of object member i is recorded as C i , and
- step (6) Use the mutual observation vector of the object member and its available reference member obtained in step (6) to calculate the vector projection matrix; record the vector projection matrix of the object member i and its available reference member k as Its expression is:
- d ik is the calculated value of the distance between the object member i and its available reference member k, and its expression is
- d ik is the calculated value of the distance between the object member i and its available reference member k
- I the distance measurement between the object member i and its available reference member k
- Step (15) Use the mutual observation set matrix of the object member i obtained in step (13) for all available reference members
- the covariance of the mutual observation set of the object member i obtained in step (14) to all available reference members is Step (15)
- the mutual observation set observations of the object member i obtained for all available reference members are Compose the dynamic mutual observation model of the drone swarm cooperative navigation, carry out the weighted least square positioning of the target member, and obtain the longitude correction of the position of the target member i Latitude correction Altitude correction
- Fig. 1 is a schematic diagram of a dynamic mutual observation modeling method for drone swarm cooperative navigation of the present invention
- Fig. 2 is a curve diagram of iterative modeling of the object member moving coordinate system constructed by the method of the present invention
- Fig. 3 is The position error curve diagram of iterative modeling using the method of the present invention
- Fig. 4 is a longitude, latitude, and height error curve diagram of the iterative modeling using the method of the present invention.
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Abstract
一种用于无人机蜂群协同导航的动态互观测在线建模方法:首先根据各成员卫星导航接收机可见星数量对成员进行第一级筛选,明确当前时刻各成员在协同导航中的角色,随后建立以待辅助的各对象成员为原点的移动坐标系,并计算各备选参考节点的坐标;在此基础上,根据与各对象成员的是否可相对测距,对各备选参考节点进行第二级筛选,获得可用参考成员集合,并初步建立动态互观测模型;最后通过迭代修正对模型进行优化,并根据无人机蜂群观测关系、自身定位性能和协同导航中角色的变化进行新一轮动态互观测建模,为有效实现无人机蜂群协同导航提供准确依据。
Description
本发明涉及用于无人机蜂群协同导航的动态互观测在线建模方法,属于无人机蜂群协同导航技术领域。
无人机蜂群是国内外近年来提出的新概念,即多架无人机为适应任务要求而进行的三维空间排列和任务分配的组织模式,它既包括编队飞行的队形产生、保持和重组,也包括飞行任务的组织,可以根据外部情况和任务需求进行动态调整。
传统组合导航系统模型主要是基于固定参考坐标系和固定性能的量测信息,而无人机蜂群在飞行过程中各成员的相对位置和定位性能处于不断变化过程中,各成员在蜂群协同导航中是作为被辅助的对象节点还是辅助的参考节点的角色也不断变化,传统组合导航模型无法适应无人机蜂群协同导航需求。
因此,研究基于移动参考坐标系并考虑成员间观测关系、自身定位性能和协同导航中角色变化的动态互观测模型和建模方法,将能够有效地实现协同导航过程中互观测信息的自适应模型描述,为无人机蜂群发挥自主协同优势提供支持。
发明内容
本发明所要解决的技术问题是:提供用于无人机蜂群协同导航的动态互观测在线建模方法,在移动参考坐标系下考虑成员间观测关系、自身定位性能和协同导航中角色变化,建立动态互观测模型并进行优化,为有效实现协同导航提供准确依据。
本发明为解决上述技术问题采用以下技术方案:
用于无人机蜂群协同导航的动态互观测在线建模方法,包括如下步骤:
步骤1,对无人机蜂群中的每个成员进行编号并表示为1,2,…,n,按照当前时刻各成员机载卫星导航接收机接收到可用星数量,对成员进行第一级筛选,确定各成员在协同导航中的角色:设接收到可用星数量小于4的成员为对象成员,将对象成员编号集合记为A;设接收到可用星数量不小于4的成员为备选参考成员,将备选参考成员编号集合记为B;且
步骤2,获取对象成员i机载导航系统指示位置,并以该指示位置为原点,建立该对象成员当地东北天地理坐标系,i表示成员编号且i∈A;
步骤3,获取备选参考成员j机载导航系统指示位置及其定位误差协方差,并将备选参考成员j机载导航系统指示位置及其定位误差协方差均转换到步骤2建立的对象成员i当地东北天地理坐标系中,j表示成员编号且j∈B;
步骤4,按照每个对象成员与每个备选参考成员之间是否可以相互测距,对备选参考成员进行第二级筛选,确定各备选参考成员在协同导航中的角色:设与对象成员i可以相互测距的备选参考成员为对象成员i的可用参考成员,将对象成员i的可用参考成员编号集合记为C
i,且
步骤5,计算对象成员与其可用参考成员的互观测矢量,并根据互观测矢量计算对象成员与其可用参考成员的矢量投影矩阵;
步骤6,计算对象成员与其可用参考成员的对象位置投影矩阵以及可用参考位置投影矩阵;
步骤7,利用步骤5获得的矢量投影矩阵和步骤6获得的对象位置投影矩阵,计算对象成员与其可用参考成员之间状态互观测矩阵;
步骤8,利用步骤5获得的矢量投影矩阵和步骤6获得的可用参考位置投影矩阵,计算对象成员与其可用参考成员之间噪声互观测矩阵;利用噪声互观测矩阵,计算对象成员与其可用参考成员之间互观测噪声协方差;
步骤9,利用步骤7获得的状态互观测矩阵,建立对象成员对其全部可用参考成员的互观测集合矩阵;
步骤10,利用步骤8获得的互观测噪声协方差,建立对象成员对其全部可用参考成员的互观测集合协方差;
步骤11,利用步骤5获得的互观测矢量,建立对象成员对其全部可用参考成员的互观测集合观测量;
步骤12,根据步骤9获得的互观测集合矩阵、步骤10获得的互观测集合协方差以及步骤11获得的互观测集合观测量,建立无人机蜂群协同导航的动态互观测模型,根据动态互观测模型进行对象成员加权最小二乘定位,得到对象成员位置的经度修正量、纬度修正量、高度修正量,并计算修正的经度、纬度、高度;
步骤13,利用步骤7获得的状态互观测矩阵和步骤8获得的互观测噪声协方差,计算对象成员位置估计协方差;
步骤14,利用步骤6获得的对象位置投影矩阵和步骤12得到的对象成员位置的经度修正量、纬度修正量、高度修正量,计算在线建模误差量;当在线建模误差量小于事先设置的动态互观测在线建模误差控制标准时,判定在线建模迭代收敛,即在线建模结束并转入步骤15,否则返回步骤5对互观测模型进行迭代修正;
步骤15,判断是否导航结束,如是则结束;否则返回步骤1进行下一时刻建模。
作为本发明的一种优选方案,步骤5所述互观测矢量,表达式为:
其中,
为对象成员i与其可用参考成员k的互观测矢量,
分别为
在对象成员i当地东北天地理坐标系东、北、天向的分量,Δλ
ik、ΔL
ik、Δh
ik分别为对象成员i与其可用参考成员k机载导航系统输出经度、纬度、高度之差,R
N为地球参考椭球卯酉圈曲率半径,f为地球参考椭球扁率,L
i、h
i分别为对象成员i机载导航系统输出的纬度、高度。
作为本发明的一种优选方案,步骤5所述矢量投影矩阵,表达式为:
其中,
为对象成员i与其可用参考成员k的矢量投影矩阵,
分别为
在对象成员i当地东北天地理坐标系东、北、天向的分量,
为对象成员i与其可用参考成员k的互观测矢量,d
ik为对象成员i与其可用参考成员k之间的距离计算值,
作为本发明的一种优选方案,步骤6所述对象位置投影矩阵,表达式为:
其中,
为对象成员i与其可用参考成员k的对象位置投影矩阵,Δλ
ik、ΔL
ik分别为对象成员i与其可用参考成员k机载导航系统输出经度、纬度之差,L
i、h
i分别为对象成员i机载导航系统输出的纬度、高度,R
N为地球参考椭球卯酉圈曲率半径。
作为本发明的一种优选方案,步骤6所述可用参考位置投影矩阵,表达式为:
作为本发明的一种优选方案,步骤7所述状态互观测矩阵,表达式为:
作为本发明的一种优选方案,步骤8所述噪声互观测矩阵,表达式为:
作为本发明的一种优选方案,步骤8所述互观测噪声协方差,表达式为:
作为本发明的一种优选方案,步骤14所述在线建模误差量,表达式为:
本发明采用以上技术方案与现有技术相比,具有以下技术效果:
1、本发明考虑了无人机蜂群飞行过程中各成员导航性能的动态变化,通过动态筛选确定各成员在协同导航中的角色,达到优选高定位性能成员辅助低定位性能成员的目的,避免固定角色模式下建模适应性差的问题。
2、本发明考虑了参考成员之间定位性能的差异,通过综合参考成员定位误差和测距传感器测量误差并引入加权迭代,提高了建模精度。
3、本发明灵活性强,适应不同规模的无人机蜂群和成员间不同相互位置关系和分布下的互观测条件。
图1是本发明用于无人机蜂群协同导航的动态互观测在线建模方法的流程图。
图2是采用本发明方法构建的对象成员移动坐标系进行迭代建模的曲线图。
图3是采用本发明方法进行迭代建模的位置误差曲线图。
图4是采用本发明方法进行迭代建模的经度、纬度、高度误差曲线图。
下面详细描述本发明的实施方式,所述实施方式的示例在附图中示出。下面通过参考附图描述的实施方式是示例性的,仅用于解释本发明,而不能解释为对本发明的限制。
本发明提供用于无人机蜂群协同导航的动态互观测在线建模方法,为无人机蜂群协同导航提供有效支持,提高了协同导航建模的灵活性和精度,方案如图1所示,包括以下步骤:
(1)设无人机蜂群中的成员数量为n,对其成员进行编号并表示为1,2,…,n,n为所有成员数量,设置动态互观测在线建模误差控制标准ζ。
(2)按照当前时刻无人机蜂群各成员机载卫星导航接收机接收到可用星数量,对成员进行第一级筛选,确定各成员在协同导航中的角色:设接收到可用星数量小于4的成员为对象成员,将对象成员编号集合记为A;设接收到可用星数量不小于4的成员为备选参考成员,将备选参考成员编号集合记为B;且
(3)获取步骤(2)分类中对象成员机载导航系统指示位置,并以该指示位置为原点,建立该对象成员当地东北天地理坐标系;记对象成员i机载导航系统指示位置为(λ
i,L
i,h
i),对应建立的当地东北天坐标系表示为O
iXYZ,其中λ表示经度,L表示纬度,h表示高度,其中i表示成员编号且i∈A。
(4)获取步骤(2)分类中备选参考成员机载导航系统指示位置及其定位误差协方差,并将其转换到步骤(3)建立的对象成员当地东北天地理坐标系中;记备选参考成员j机 载导航系统指示位置为(λ
j,L
j,h
j),其中j表示成员编号且j∈B。
(5)依次按照每个对象成员与每个备选参考成员之间是否可以相互测距,对备选参考成员进行第二级筛选,确定各备选参考成员在协同导航中的角色:设与对象成员i可以相互测距的备选参考成员为对象成员i的可用参考成员,将对象成员i的可用参考成员编号集合记为C
i,且
其中i、k表示成员编号且i∈A、k∈C
i,Δλ
ik为对象成员i与其可用参考成员k机载导航系统输出经度之差,ΔL
ik为对象成员i与其可用参考成员k机载导航系统输出纬度之差,Δh
ik为对象成员i与其可用参考成员k机载导航系统输出高度之差,R
N为地球参考椭球卯酉圈曲率半径,为常数;f为地球参考椭球扁率,为常数;L
i为对象成员i机载导航系统输出的纬度,h
i为对象成员i机载导航系统输出的高度。
(12)利用步骤(11)获得的噪声互观测矩阵,计算对象成员与其可用参考成员之间互观测噪声协方差,其表达式为:
(16)利用步骤(13)获得的对象成员i对其全部可用参考成员的互观测集合矩阵
步骤(14)获得的对象成员i对其全部可用参考成员的互观测集合协方差为
步骤 (15)获得的对象成员i对其全部可用参考成员的互观测集合观测量为
组成无人机蜂群协同导航的动态互观测模型,进行对象成员加权最小二乘定位,得到对象成员i位置的经度修正量
纬度修正量
高度修正量
(18)利用步骤(10)获得的对象成员与其可用参考成员之间状态互观测矩阵,步骤(12)获得的对象成员与其可用参考成员之间互观测噪声协方差,计算对象成员位置估计协方差;记对象成员i位置估计协方差为σ
pi,其表达式为:
(21)判断是否导航结束,如是则结束;否则返回步骤(2)进行下一时刻建模。
为了验证本发明所提出的用于动态观测关系条件的无人机蜂群协同导航方法的有效性,进行数字仿真分析。仿真中采用的无人机蜂群中无人机数量为8架,相对距离测量精度为0.1米。图1是本发明用于无人机蜂群协同导航的动态互观测建模方法的方案图;图2是采用本发明方法构建的对象成员移动坐标系进行迭代建模的曲线图;图3是采用本发明方法进行迭代建模的位置误差曲线图;图4是采用本发明方法进行迭代建模的经度、纬度、高度误差曲线图。
由图2可以看出,采用本发明所提出的用于无人机蜂群协同导航的互观测模型与在线建模方法后,无人机蜂群中对象成员的计算位置逐渐初始位置收敛接近于真实位置;由图3可以看出,本发明所提出的用于无人机蜂群协同导航的互观测模型与在线建模方法后对象成员的位置误差逐渐减小,最终计算得到的位置误差较初始误差降低4个数量级;由图3可以看出,本发明所提出的用于无人机蜂群协同导航的互观测模型与在线建模方法后经度、纬度、高度方向误差均逐渐减小。此外,采用本发明方法能够适应无人机蜂群在飞行过程中互观测关系和成员角色的不断变化,具有良好的应用价值。
以上实施例仅为说明本发明的技术思想,不能以此限定本发明的保护范围,凡是按照本发明提出的技术思想,在技术方案基础上所做的任何改动,均落入本发明保护范围之内。
Claims (9)
- 用于无人机蜂群协同导航的动态互观测在线建模方法,其特征在于,包括如下步骤:步骤1,对无人机蜂群中的每个成员进行编号并表示为1,2,…,n,按照当前时刻各成员机载卫星导航接收机接收到可用星数量,对成员进行第一级筛选,确定各成员在协同导航中的角色:设接收到可用星数量小于4的成员为对象成员,将对象成员编号集合记为A;设接收到可用星数量不小于4的成员为备选参考成员,将备选参考成员编号集合记为B;且步骤2,获取对象成员i机载导航系统指示位置,并以该指示位置为原点,建立该对象成员当地东北天地理坐标系,i表示成员编号且i∈A;步骤3,获取备选参考成员j机载导航系统指示位置及其定位误差协方差,并将备选参考成员j机载导航系统指示位置及其定位误差协方差均转换到步骤2建立的对象成员i当地东北天地理坐标系中,j表示成员编号且j∈B;步骤4,按照每个对象成员与每个备选参考成员之间是否可以相互测距,对备选参考成员进行第二级筛选,确定各备选参考成员在协同导航中的角色:设与对象成员i可以相互测距的备选参考成员为对象成员i的可用参考成员,将对象成员i的可用参考成员编号集合记为C i,且步骤5,计算对象成员与其可用参考成员的互观测矢量,并根据互观测矢量计算对象成员与其可用参考成员的矢量投影矩阵;步骤6,计算对象成员与其可用参考成员的对象位置投影矩阵以及可用参考位置投影矩阵;步骤7,利用步骤5获得的矢量投影矩阵和步骤6获得的对象位置投影矩阵,计算对象成员与其可用参考成员之间状态互观测矩阵;步骤8,利用步骤5获得的矢量投影矩阵和步骤6获得的可用参考位置投影矩阵,计算对象成员与其可用参考成员之间噪声互观测矩阵;利用噪声互观测矩阵,计算对象成员与其可用参考成员之间互观测噪声协方差;步骤9,利用步骤7获得的状态互观测矩阵,建立对象成员对其全部可用参考成员的互观测集合矩阵;步骤10,利用步骤8获得的互观测噪声协方差,建立对象成员对其全部可用参考成员的互观测集合协方差;步骤11,利用步骤5获得的互观测矢量,建立对象成员对其全部可用参考成员的互观测集合观测量;步骤12,根据步骤9获得的互观测集合矩阵、步骤10获得的互观测集合协方差以及步骤11获得的互观测集合观测量,建立无人机蜂群协同导航的动态互观测模型,根据动态互观测模型进行对象成员加权最小二乘定位,得到对象成员位置的经度修正量、纬度修正量、高度修正量,并计算修正的经度、纬度、高度;步骤13,利用步骤7获得的状态互观测矩阵和步骤8获得的互观测噪声协方差,计算对象成员位置估计协方差;步骤14,利用步骤6获得的对象位置投影矩阵和步骤12得到的对象成员位置的经度修正量、纬度修正量、高度修正量,计算在线建模误差量;当在线建模误差量小于事先设置的 动态互观测在线建模误差控制标准时,判定在线建模迭代收敛,即在线建模结束并转入步骤15,否则返回步骤5对互观测模型进行迭代修正;步骤15,判断是否导航结束,如是则结束;否则返回步骤1进行下一时刻建模。
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CN114740901A (zh) * | 2022-06-13 | 2022-07-12 | 深圳联和智慧科技有限公司 | 一种无人机集群飞行方法、系统及云平台 |
CN114740901B (zh) * | 2022-06-13 | 2022-08-19 | 深圳联和智慧科技有限公司 | 一种无人机集群飞行方法、系统及云平台 |
RU2805431C1 (ru) * | 2022-12-30 | 2023-10-16 | Мухамедзянов Равиль Рашидович | Самоорганизующийся и самоуправляемый рой БПЛА и способ контроля территории на наличие установленного события посредством такого роя |
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