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

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

Abstract

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

CLC Number:

TP391.9

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

Figures/Tables 11

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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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