不完整测量下集群飞行器协同相对定位方法

测距和测向是实现飞行器间相对测量的常用手段。通常而言，飞行器间相互测距精度远高于飞行器绝对位置导航精度。因此，提出了一种基于集群飞行器间测距和对目标测向的协同相对定位方法，利用集群飞行器间相互测距和各飞行器对非合作目标测向来实现集群飞行器及非合作目标的相对定位。方法分为静态相对定位方法和动态相对定位方法两种。基于飞行器间相互测距和对非合作目标测向来实现协同相对定位的方案，不需要对非合作目标进行完整的相对位置测量，简化了对飞行器测量设备配置的要求。同时，相比基于飞行器绝对位置导航和对非合作目标测向的相对定位方案，能获得更高的相对定位精度。

Collaborative Relative Positioning Method for Cluster Aircraft Under Incomplete Measurement

Ranging and direction finding are common means for relative measurement between aircrafts. Usually, the accuracy of mutual ranging between aircrafts is much higher than that of absolute position navigation of aircraft. Therefore, this paper proposes a cooperative relative positioning method based on the range and direction finding between cluster aircrafts. The relative positioning of cluster aircraft and non-cooperative target can be achieved by using the range between cluster aircrafts and the direction finding of non-cooperative target by each aircraft. Those methods are divided into static relative positioning method and dynamic relative positioning method. In this paper, a cooperative relative positioning scheme based on mutual ranging between aircrafts and direction finding of non-cooperative targets is proposed, which does not require complete relative position measurement of non-cooperative targets and simplify the requirements of the configuration of aircraft measurement equipments. Compared with the relative positioning scheme based on absolute position navigation of aircrafts and direction finding of non-cooperative targets, it can achieve a higher relative positioning accuracy.