摘要
无人集群系统技术是未来无人机技术的发展趋势。在复杂未知的背景环境中,由于电磁、物理屏障等不可控干扰因素,导航系统易出现因卫星信号拒止而无法准确提供导航信息的情况。本文利用无人集群系统多机编队的特点,提出一种基于目标间信号到达方位(DOA)和接收信号强度(RSSI)指纹信息(Fingerprints)的协作定位方法,仅利用单个基站即可实现对移动目标节点的位置定位。实验结果表明,对突然丧失定位能力的节点,本文方法能够实现盲节点的再定位功能,在约80m×80m的运动区域内达到约1.5m的定位精度。该方法定位误差不随时间积累,具有良好的定位性能。
The UAV swarm is the development trend of UAV technology in future. GNSS have been widely applied, however the signals are prone to be weak and blocked due to the radio interference and physical barriers under complex background. This paper describes a cooperative localization method based on DOA and RSSI fingerprints information measured between two objectives, with using uniquely a single base station. The simulation results show that the proposed method estimates the mobile nodes position with an accuracy of around 1.5 m in an area of 80 m×80 m. The proposed method is effective in both accuracy, time-consuming, and also robust since the estimate error is not accumulated with traveled time.
出处
《现代导航》
2018年第4期250-255,共6页
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