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Information fusion distributed navigation for UAVs formation flight

机译：信息融合为无人机形成飞行的分布式导航

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摘要

High precision navigation is a key technique for unmanned aerial vehicles (UAVs) formation flight. A methodology for fusing data from inertial navigation system (INS), global positioning system (GPS) and vision sensor is presented. For the lead UAV, a Kalman filter based INS/GPS integrated navigation system is designed. For the wing UAV, a local Kalman filter based INS/GPS integrated subsystem and local Kalman filter based INS/Vision/JTIDS subsystem are designed, and a distributed master filter based on information fusion estimation is designed to get the absolute navigation solution of wing UAV. And then, the relative navigation between the lead UAV and the wing UAV in formation can be obtained. Simulation results verify the validity of this formation navigation architecture for UAVs. Moreover, it illustrates that the distributed information fusion INS/GPS/Vision integrated navigation system for formation UAVs has highest geodetic navigation accuracy, when comparing with INS/GPS integrated navigation system and INS/Vision integrated navigation system.
机译：高精度导航是无人驾驶飞行器（无人机）地层飞行的关键技术。提出了一种从惯性导航系统（INS），全局定位系统（GPS）和视觉传感器的融合数据的方法。对于铅免盖，设计了一种基于卡尔曼滤波器的INS / GPS集成导航系统。对于WING UAV，设计了基于当地的Kalman滤波器的INS / GPS集成子系统和本地Kalman滤波器基于Ins / Vision / JTIDS子系统，并且基于信息融合估计的分布式主滤波器旨在获得机翼无人机的绝对导航解决方案。然后，可以获得领先的UAV和翼UAV之间的相对导航。仿真结果验证了对无人机的这种形成导航架构的有效性。此外，当与INS / GPS集成导航系统和INS / VISION集成导航系统相比，分布式信息融合INS / VISION INS / GPS / VISION集成导航系统具有最高的大地测量导航精度。

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