三飞行体间欠冗余相对定位

Under-redundant relative position among three aircrafts

自主协同工作的多飞行体间需通过相对定位确定彼此间的位置关系。针对三飞行体相对定位的欠冗余问题,提出了基于多假设最小均方估计的相对定位算法。首先,算法根据不同飞行体间惯性导航信息相对误差的分布函数,建立了多假设模型;然后,依据不同模型对飞行体的相对位置进行最小均方估计;最后,通过对不同估计结果的加权,实现飞行体间的动态相对定位。为了进一步提高相对定位的精度和稳定性,基于最优线性估计模型,提出了一种线性融合算法,实现三飞行体各自的定位结果的有效融合。仿真表明,本算法在观测信息欠冗余的情况下,可以实现三飞行体间的精确相对定位,且具有较高的稳定性。

For establishing the relative position among multi-aircrafts operating in autonomous collaboration,the efficient cooperation relative position algorithm is proposed.In order to solve the under-redundant of relative measurement in the relative position among three aircrafts,multiple hypothesis least squared algorithm is presented.Firstly,the multiple hypothesis models are established based on the distribution function of the error in inertial navigation system（INS）.Then the least square estimation results of the relative position among aircrafts can be obtained under each hypothesis model.Finally,the dynamic relative position can be acquired by the weighting.In additional,a kind of linear fusion algorithm is introduced to improve the accuracy and stability of estimation results by the optimal linear estimating model.Simulation results show the stabilization and precision of this algorithm in the relative position among three aircrafts under-redundant of relative measurement.