A Spatial Registration Method for Multi-UAVs Based on a Cooperative Platform in a Geodesic Coordinate Information-Free Environment

Abstract

The satellite navigation system of Unmanned Aerial Vehicles (UAVs) is susceptible to external interference in a complex environment, resulting in the loss of their own geodetic coordinate information. A spatial registration method for multi-UAVs based on a cooperative platform in a geodesic coordinate information-free environment is proposed to solve this problem. The mutual observation information between UAVs is approximated by the observation information of the cooperative platform. Indirect observation information of the target can be obtained on account of mutual observation. On the basis of this, a close-range spatial registration algorithm without the geodetic coordinate information of UAVs is designed by means of the right-angle translation method. Finally, the Kalman filtering technique is used to track maritime targets. In this paper, the proposed method is verified by a simulation experiment and a practical experiment. The proposed method is 90% effective in reducing systematic errors. The tracking accuracy after alignment is significantly better than that of the original trajectory.

Keywords

• target tracking
• spatial registration
• UAV
• cooperative platform
• coordinate transformation