无人机编队飞行导航方法及其仿真研究

摘要

研究无人机导航优化编队问题,编队各成员的高精度定位是无人机协同编队飞行的关键技术和难点.为了提高编队定位的精度,提出了一种长机组合导航和长/僚机相对测量的编队成员导航定位方法,在编队导航系统模型的基础上,采用卡尔曼滤波原理估计出各成员的惯导误差,经校正后得到精确的导航信息,并进行仿真.仿真结果表明,改进的方法对所设计的长机与僚机的导航定位是完全可行的,编队各成员均获得较高的测地导航精度.%High-precision location for all members is the core technological issue for UAV formation flight. A navigation algorithm base on INS/GPS integrated navigation and relative measurements was put forward to overcome this issue. INS errors of all members were estimated with Kalman flitering and precise navigation information was obtained after correction. Simulation results verify ihe validity of this algorithm and show high geodetic navigation accuracy.