Abstract
AbstractAircraft cluster has the characteristics of scale advantage, wide application range and high flexibility. And high precision cooperative navigation technology can improve the performance of aircraft cluster from the aspects of stability, safety and reliability. In this paper, an aircraft cluster cooperative navigation positioning model based on bearing-only measurement is established. According to the accuracy of the airborne navigation equipment of each aircraft, the aircrafts are divided into reference aircrafts and aircrafts to be assisted. On this basis, the bearing-only/inertial tight integrated navigation is proposed. In order to modify navigation error, the Kalman filter algorithm is applied. Considering that navigation precision in the real-time ROI (region of interest) may not meet the requirements, a dynamic cluster collaborative navigation configuration optimization method is proposed by taking PDOP (positional dilution of precision) as the index of configuration optimization. In the simulation and analysis of this paper, the effectiveness of the aircraft cluster configuration optimization method is conformed, and the navigation solution errors with and without configuration optimization are compared. Besides, the influence of bearing-only measurement accuracy on the configuration optimization method is studied. Simulation results show that the method can improve the collaborative navigation precision through configuration transformation when the ROI changes in real time. With this method, the overall positioning error of aircraft cluster is reduced significantly, and the positioning precision of aircraft cluster in some ROI even reaches the meter level.KeywordsAircraft clusterCooperative navigationBearing-only measurementReal-time ROIConfiguration optimization
Published Version
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