0 引言
随着无线移动通信技术的发展，用户对移动定位系统的需求也越来越高。与GPS卫星导航定位系统相比，由地面站组成的陆基导航定位系统有搭建简单、成本低的优点，更适合在某些场合应用。在陆基导航定位系统当中，基于到达时间差TD...0 引言
随着无线移动通信技术的发展，用户对移动定位系统的需求也越来越高。与GPS卫星导航定位系统相比，由地面站组成的陆基导航定位系统有搭建简单、成本低的优点，更适合在某些场合应用。在陆基导航定位系统当中，基于到达时间差TDOA （ time difference of arrival）定位已经被证明是一种可靠、定位精度高、实现简单的定位方法。展开更多
Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction...Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.展开更多
文摘0 引言
随着无线移动通信技术的发展，用户对移动定位系统的需求也越来越高。与GPS卫星导航定位系统相比，由地面站组成的陆基导航定位系统有搭建简单、成本低的优点，更适合在某些场合应用。在陆基导航定位系统当中，基于到达时间差TDOA （ time difference of arrival）定位已经被证明是一种可靠、定位精度高、实现简单的定位方法。
基金supported by the National Natural Science Foundation of China(60974146)the Natural Science and Engineering Research Council of Canada(NSERC)
文摘Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.
