Considering the low efficiency and poor real-time performance of traditional configuration optimization for cooperative navigation of clustered unmanned aerial vehicles(UAVs),a method for cooperative navigation of clustered UAVs based on node contribution evaluation is proposed.The calculation method of cooperative dilution of precision(CDOP)based on ranging/angle meas-urement information is derived.Taking CDOP as an indicator,a node contribution calculation method is proposed.Using the fuzzy comprehensive evaluation method,taking contribution and ranging/angle measurement error as sets of factors,a comprehensive evaluation method for node contribution is proposed,which comprehensively considers factors such as node configuration and measurement error to achieve rapid screening of measurement information under optimal configu-ration.The screened measurement information is fused with INS position estimation to achieve co-operative positioning of clustered UAVs.Simulation results show that the proposed algorithm sig-nificantly improves the positioning accuracy compared to the empirical method of rapid star selec-tion,and the cumulative distribution of positioning error less than 1 m is increased from 15.4％to 49.1％.At the same time,the computational efficiency is improved by 2.96 times while maintai-ning the same accuracy as the improved particle swarm optimisation algorithm.
Cooperative navigationOptimisation of configurationClustered UAVsCooperative dilution of precisionFuzzy comprehensive evaluation
维普
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