基于构型优选的5G集群无人机协同导航方法

doi:10.16182/j.issn1004731x.joss.22-1472

系统仿真学报 ›› 2024, Vol. 36 ›› Issue (4): 981-990.doi: 10.16182/j.issn1004731x.joss.22-1472

基于构型优选的5G集群无人机协同导航方法

高超¹(), 黄郑¹^,³(), 赵轩², 王红星¹^,³, 龙涛²

^1.国网江苏省电力有限公司, 江苏南京 210024
^2.国网江苏省电力有限公司南京供电分公司, 江苏南京 210017
^3.江苏方天电力技术有限公司, 江苏南京 211100

收稿日期:2022-12-08 修回日期:2023-02-09 出版日期:2024-04-15 发布日期:2024-04-18
通讯作者: 黄郑 E-mail:gchao@js.sgcc.com.cn;hz10@vip.qq.com
第一作者简介:高超(1983-)，男，高工，研究方向为无人机智能运检。E-mail：gchao@js.sgcc.com.cn
基金资助:
国网江苏省电力有限公司重点科技(J2021130)

Collaborative Navigation Method for 5G Cluster UAV Based on Configuration Optimization

Gao Chao¹(), Huang Zheng¹^,³(), Zhao Xuan², Wang Hongxing¹^,³, Long Tao²

^1.State Grid Jiangsu Electric Power Co. , Ltd. , Nanjing 210024, China
^2.State Grid Jiangsu Electric Power Co. , Ltd. , Nanjing Power Supply Branch, Nanjing 210017, China
^3.JiangSu Frontier Electric Technology Co. , Ltd. , Nanjing 211100, China

Received:2022-12-08 Revised:2023-02-09 Online:2024-04-15 Published:2024-04-18
Contact: Huang Zheng E-mail:gchao@js.sgcc.com.cn;hz10@vip.qq.com

摘要/Abstract

摘要：

针对现有基于测距的集群UAV协同导航方法普遍忽略了空间构型对定位定能的影响，难以获得精确的导航定位结果，提出一种基于空间构型优选的5G集群UAV协同导航方法。构建了复杂环境下基于5G信号的UAV相对测距误差模型，基于最小几何精度因子(geometric dilution of precision，GDOP)准则建立了协同导航节点寻优策略，实现了协同导航空间构型的实时优选；设计了基于5G测距网络的协同导航滤波器，对UAV导航信息进行在线估计和实时补偿，提高集群UAV的协同定位精度。仿真结果表明：该方法从机定位精度平均提升了约42.05%，为集群UAV实现在卫星不可用条件下的自主导航提供了一种有效的新方法。

关键词: 5G测距, 协同导航, 多无人机, GDOP(geometric dilution of precision), 最优构型

Abstract:

The existing range based cooperative navigation methods for clustered UAVs generally ignore the impact of space configuration on positioning and energy determination, which makes it difficult to obtain the accurate navigation and positioning results. In view of this, a collaborative navigation method is proposed for 5G clustered UAVs based on spatial configuration optimization. The relative ranging error model of UAVs based on 5G signals in complex environments is constructed, and the optimization strategy for collaborative navigation nodes is established based on the minimum geometric division of precision(GDOP) criterion to achieve the real-time optimization of collaborative navigation spatial configuration; A collaborative navigation filter based on 5G ranging network is designed to estimate and compensate the UAV navigation information online, so as to improve the collaborative positioning accuracy of clustered UAVs. Simulation results show that through the proposed collaborative navigation method, the slave positioning accuracy is improved by 42.05% on average, which provides an effectively new method for clustered UAVs to achieve autonomous navigation when satellite signals are unavailable.

Key words: 5G ranging, cooperative navigation, UAV, geometric dilution of precision(GDOP), optimal configuration

中图分类号:

TP391.9

高超,黄郑,赵轩等 . 基于构型优选的5G集群无人机协同导航方法[J]. 系统仿真学报, 2024, 36(4): 981-990.

Gao Chao,Huang Zheng,Zhao Xuan,et al . Collaborative Navigation Method for 5G Cluster UAV Based on Configuration Optimization[J]. Journal of System Simulation, 2024, 36(4): 981-990.

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误差参数类型	设置参数
陀螺仪常值漂移/((°)/h)	[10, 10, 10]
陀螺仪随机漂移/((°)/h)	[10, 10, 10]
加速度计零偏/g	[0.001, 0.001, 0.001]
加速度计随机偏差/g	[0.001, 0.001, 0.001]
领机卫星接收机定位误差/m	[20, 20, 50]
5G测距误差/m	100

无人机节点	设置参数
从机节点1三维位置/((°)/(°)/m))	[110, 20, 1 000]
从机节点1姿态角/(°)	[0, 0, 45]
领机节点1三维位置/((°)/(°)/m))	[109.999 6, 19.999 5, 350]
领机节点1姿态角/(°)	[0, 0, 45]
领机节点2三维位置/((°)/(°)/m))	[109.999 7, 19.999 7, 500]
领机节点2姿态角/(°)	[0, 0, 45]

节点	单一构型	最优构型	节点	单一构型	最优构型
1	63.62	38.01	6	90.88	52.95
2	69.47	35.04	7	69.15	37.36
3	62.45	34.06	8	63.48	40.07
4	62.45	39.30	9	64.03	39.34
5	70.69	42.81	10	62.11	33.81

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基于构型优选的5G集群无人机协同导航方法

Collaborative Navigation Method for 5G Cluster UAV Based on Configuration Optimization

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