Affiliation:
1. School of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, Shaanxi, China
2. Automation School, Guangdong University of Petrochemical Technology, Maoming 528000, Guangdong, China
Abstract
To improve the accuracy and reliability of the relative positioning for unmanned aerial vehicles (UAVs), a relative positioning method based on multi-source information fusion is proposed. An integrated positioning scheme is constructed by the Beidou Navigation Satellite System (BDS) receivers, Global Positioning System (GPS) receivers, Vision-Based Navigation System (VisNav), and Inertial Navigation System (INS). The BDS pseudorange relative difference equation, the GPS relative difference equation, the relative line-of-sight vector equation, and the INS measurement equation are established, respectively. The least squared (LS) method is used to realize information fusion, and the Gauss-Newton method is used to iteratively solve the relative position results. Finally, numerical simulation and result analysis are conducted with different sensor configurations. Simulation results show that BDS/INS/GPS/VisNav relative positioning result is obviously better than that of INS/GPS, INS/VisNav, and INS/GPS/VisNav, and the proposed method reduces the relative positioning errors and has a higher accuracy and excellent robustness. The research result is suitable for application scenarios with high navigation accuracy requirement such as AAR and intelligent swarm formation control.
Funder
National Natural Science Foundation of China
Subject
General Engineering,General Mathematics