多无人机辅助定位信标的区域导航定位算法

针对卫星导航系统在受到干扰不可用的情况，研究了多无人机（UAV）辅助的区域导航定位算法。以无人机作为空基信号播发平台，向地面用户广播其位置信息及同步时钟信号，地面用户通过接收无人机位置及与无人机的距离计算出其实时位置。以地面战车为例，为解决伪距单点定位算法中的矩阵不可逆问题，消除地面用户接收机的钟差，基于列文伯格-马夸尔特（LM）算法，提出一种地面用户的定位解算模型，同时，为提高一般最小二乘算法的计算精度，提出了两步最小二乘定位算法。在分析2种算法静态定位精度的基础上，设计了基于车载惯性传感器和无人机辅助定位信息的组合导航实现算法，实现了对战车的连续定位。仿真结果表明，在GNSS拒止环境下，利用无人机播发的定位信标信号并结合地面用户战车自带的惯性导航系统，可以实现对地面用户的可靠连续定位，满足一定区域范围内用户的导航定位需求。

Regional navigation algorithm assited by locations of multi UAVs

A regional navigation and positioning scheme is proposed in the case of unavailability of the satellite navigation system under interference. The Unmanned Aerial Vehicles (UAVs) are used as an airborne signal broadcasting platform to broadcast location information and synchronous clock signals to the terrestrial user. The terrestrial user solves its real-time position through the locations and the distances from UAVs. Taking the land vehicle as an example, this paper proposes the Levenberg-Marquardt (LM) algorithm to realize its positioning and eliminate the clock error of the terrestrial user receiver. A two-step least square algorithm is proposed. To realize the continuous positioning of the land vehicle, an integrated navigation method is designed by using the vehicle inertial sensor output and The simulation results show that in the GNSS rejection environment, by using the inertial sensor output of the terrestrial user and the signal broadcasting by the UAVs, the continuous and reliable position information of the terrestrial user can be obtained through the Kalman filter, meeting the positioning requirements of the terrestrial user within a certain area.