The Research of the Rank-defect Constraint Collaborative Navigation Method of the Distributed Cluster
Aiming at the inertial navigation errors rapid increasing in the distributed clusters under the sce-nario that GNSS signal is unavailable,a collaborative navigation method is proposed in this paper,which just includes total nodes fitted with distributed cluster structure of inertial navigation systems(INSs).A rank-defect constraint Kalman filter is designed to perform collaborative navigation and reduces the errors of the INSs,even if the number of the measurement variables is less than the number of the state variables in the filter.The flight test platform of unmanned air vehicles(UA Vs)is established to prove the cooperative navigation system.The results of the flight test show the precision of the position and velocity can be im-proved by about 2 times when there are none high-precision nodes in the distributed network,and the preci-sion of the position and velocity can be improved by about 10～20 times when there are just one high-preci-sion nodes in the distributed network.
Collaborative navigationUnmanned air vehicleKalman filterDistributed cluster
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