Radio ranging collaborative positioning method with UKF in unmanned cluster
In order to address the nonlinear issues faced in collaborative positioning information fusion based on radio ranging in unmanned cluster,a collaborative positioning methodwith UKF is proposed.The method utilizes the nonlinear fit-ting characteristics of UKF to construct a nonlinear collaborative positioning measurement model,avoiding the positioning error caused by linearization of the measurement model in collaborative positioning method with KF,thereby improving the position accuracy of radio ranging collaborative positioning method.A verification system for radio ranging collaborative positioning method with UKF in unmanned cluster was built based on radio rangingequipments.The experiment results showed that compared to collaborative positioning method with KF,the collaborative positioning method with UKF im-proved the latitude direction positioning error by 28.92％and the longitude direction positioning error by 54.34％.
radio rangingcollaborative positionUKFunmanned cluster
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