利用集群内测距和对目标测向的协同定位方法

当多个飞行器间相对位置测量精度显著高于飞行器绝对定位精度时，在飞行器间增加相对测量，对各飞行器的定位测量协同处理，能提高绝对定位精度。本文针对集群飞行器对非合作目标不能测距而仅能测向的情况，通过在集群飞行器间引入相互测距，来提高集群飞行器自身和对非合作目标的定位精度。对于这种不完整相对测量情况，给出了能提高定位精度的协同定位求解方法，包括非线性静态优化估计和线性化后最小二乘估计方法。这种协同定位方案，不需要进行完整的相对位置测量，对测距和测向在群体相对测量中进行合理分解，降低了飞行器测量设备配置的要求。通过仿真验证了该方法的有效性。

Cooperative positioning method using distance measurement within a cluster and direction finding of a target

When the relative position measurement accuracy between multiple aircrafts is significantly higher than the absolute positioning accuracy of the aircraft, a relative measurement is added between the aircrafts, and the coordinated processing of the positioning measurement of each aircraft can improve the absolute positioning accuracy. This article aims at the situation that the cluster aircraft cannot measure the distance to the non-cooperative target but can only find the direction. By introducing the mutual ranging between the cluster aircrafts, the positioning accuracy of the cluster aircraft and the non-cooperative target can be improved. For this incomplete relative measurement situation, a cooperative positioning solution method that can improve the positioning accuracy is presented, including the nonlinear static optimization estimation and the linearized least squares estimation method. This coordinated positioning scheme does not need to perform a complete relative position measurement, but can reasonably decompose the ranging and direction finding in the group relative measurement and reduce the requirements for the configuration of aircraft measurement equipment. The validity of the method is verified by the simulation.