Jisuanji kexue (Apr 2022)

Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment

  • SHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun

DOI
https://doi.org/10.11896/jsjkx.210200106
Journal volume & issue
Vol. 49, no. 4
pp. 302 – 311

Abstract

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The localization of unmanned aerial vehicle (UAV) in GPS-denied environment is a difficult problem to be studied and solved.In this paper, the cooperative localization (CL) of UAV cluster system in GPS-denied environment is the main research points.Firstly, location confidence (LC) is proposed for the quantification of UAV's localization accuracy in GPS-denied environment.Secondly, a LC-based CL method, which can adaptively adjust the cooperative weight of each UAV through persistent excitation-based relative localization, is proposed to improve the accuracy of UAV cluster localization.Thirdly, a expand kalman filtering (EKF) is designed for UAV attitude calculation, which can be equipped in each UAV and used to fusing multi heterogeneous sensor data and the CL output.Finally, a multi-UAV cooperative localization system is implemented on ROS, and is verified in multi-UAV flight simulation scene of Gazebo.The simulation results show that the LC-based CL method can effectively alleviate the error accumulation of traditional inertial navigation system, and improve the accuracy of UAV cluster localization.

Keywords