Abstract
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.
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Acknowledgements
This work was partially supported by the National Natural Science Foundation of China (Grant No. 61703208, 62073163, 61873125, 61673208, 61533008, 61533009), the Foundation Research Project of Jiangsu Province (The Natural Science Foundation of Jiangsu Province, Grant No. BK20170815, BK20170767, BK20181291), the Science and Technology Innovation Project for the Selected Returned Overseas Chinese Scholars in Nanjing, the Fundamental Research Funds for the Central Universities (Grant No. NZ2019007), the Foundation of Key Laboratory of Navigation, Guidance and Health-Management Technologies of Advanced Aircraft.
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Du, J., Wang, R., Xiong, Z., Liu, J. (2022). Research on Cooperative Navigation Algorithm of the UAV Swarm Based on Spherical Interpolation. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_370
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DOI: https://doi.org/10.1007/978-981-15-8155-7_370
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