Abstract
To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: , , , , where represents the longitude error, represents the latitude error, represents the altitude error, and represents the error radius.
Highlights
As an important tool for localization, photoelectric measuring equipment is playing an important role in military and civilian applications [1,2,3,4]
According to the base variety, modern photoelectric measuring equipment is mainly divided into ground-based photoelectric theodolites, surveying vessels and airborne photoelectric platforms
This paper proposes a two-UAV intersection localization method to solve the problem of singlestation positioning, which uses two devices locating the target at the method same time to to solve problem This paper proposes a two-UAV
Summary
As an important tool for localization, photoelectric measuring equipment is playing an important role in military and civilian applications [1,2,3,4]. When being used in actual reconnaissance and localization, photoelectric theodolites and surveying vessels are often affected by operating range and other factors so that they cannot track and locate the targets all of the way In this context, owing to the high maneuverability of UAVs, airborne photoelectric platforms are playing a more and more important role in reconnaissance and localization [5,6,7,8,9]. Hosseinpoor et al [15,16] used a UAV with RTK (real-time kinematic)-GPS for estimation and localization, and processed the localization results through extended Kalman filtering Their method is characterized by smooth localization results, simple and achievable equipment, but with limited positioning accuracy. This can effectively reduce the load on UAVs, escape from the LRF range restriction, and expand the localization applicability
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