Cooperative localization of UAV based on information synchronization

摘要

Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization method by other members' measurements in the UAV team. First, we assume that these UAVs construct a ring communication topological structure and all the units in the network can respectively obtain the position information of the UAV by measuring the relative range and the azimuth from the UAV. Next, the information is synchronized in the ring communication network and it converges to a same value. Finally, the data is communicated to the UAV whose GPS receiver works improperly so that the UAV is capable of continuing the navigation task. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.