TY - GEN
T1 - Cooperative Multi-UAVs Configuration Maintenance Based on Inter-aircraft Ranging in Navigation Denial Environment
AU - Xu, Di
AU - Liu, Yanchen
AU - Liu, Zhijun
AU - Wang, Zhengjie
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The unmanned aerial vehicle (UAV) swarm cannot receive GNSS signals in the navigation denial environment, and the loss of GNSS signal calibration fusion of the positional data will result in excessive errors leading to the loss of the swarm's positioning capability. To address the problem of GNSS signal loss and navigation failure in this rejection environment, a cooperative control method based on inter-UAV communication range observation information is proposed. Firstly this method obtains the distance information between nodes within the cluster through inter-UAV communication. Then the range information and part of the inertial data are used to establish the relative coordinate system and the information of the UAV centralized configuration under the relative coordinate system, and then the barometric altitude information and magnetic compass information of each UAV are used to maintain the UAV heading, altitude and cluster configuration, so as to improve the survivability of the UAV swarm in the navigation denial environment. Finally, the effectiveness of the method is experimentally verified.
AB - The unmanned aerial vehicle (UAV) swarm cannot receive GNSS signals in the navigation denial environment, and the loss of GNSS signal calibration fusion of the positional data will result in excessive errors leading to the loss of the swarm's positioning capability. To address the problem of GNSS signal loss and navigation failure in this rejection environment, a cooperative control method based on inter-UAV communication range observation information is proposed. Firstly this method obtains the distance information between nodes within the cluster through inter-UAV communication. Then the range information and part of the inertial data are used to establish the relative coordinate system and the information of the UAV centralized configuration under the relative coordinate system, and then the barometric altitude information and magnetic compass information of each UAV are used to maintain the UAV heading, altitude and cluster configuration, so as to improve the survivability of the UAV swarm in the navigation denial environment. Finally, the effectiveness of the method is experimentally verified.
KW - flight control
KW - multi - aircraft collaboration
KW - navigation rejection environment
UR - https://www.scopus.com/pages/publications/85146494689
U2 - 10.1109/ICUS55513.2022.9986558
DO - 10.1109/ICUS55513.2022.9986558
M3 - Conference contribution
AN - SCOPUS:85146494689
T3 - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
SP - 453
EP - 458
BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Y2 - 28 October 2022 through 30 October 2022
ER -