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自主协同工作的多飞行体间需通过相对定位确定彼此间的位置关系。针对三飞行体相对定位的欠冗余问题,提出了基于多假设最小均方估计的相对定位算法。首先,算法根据不同飞行体间惯性导航信息相对误差的分布函数,建立了多假设模型;然后,依据不同模型对飞行体的相对位置进行最小均方估计;最后,通过对不同估计结果的加权,实现飞行体间的动态相对定位。为了进一步提高相对定位的精度和稳定性,基于最优线性估计模型,提出了一种线性融合算法,实现三飞行体各自的定位结果的有效融合。仿真表明,本算法在观测信息欠冗余的情况下,可以实现三飞行体间的精确相对定位,且具有较高的稳定性。
The multi-flight body working independently and independently should determine the relative position of each other through the relative positioning. Aiming at the problem of under-redundancy of the relative positioning of three flight objects, a relative positioning algorithm based on multi-hypothesis least mean square estimation is proposed. Firstly, the algorithm establishes a multi-hypothesis model according to the distribution function of the relative error of inertial navigation information between different airplanes. Then, based on different models, the least mean square estimation of the relative position of the flying object is carried out. Finally, through the weighting of different estimation results, Achieve the dynamic relative positioning between the flying body. In order to further improve the accuracy and stability of relative positioning, a linear fusion algorithm is proposed based on the optimal linear estimation model to realize the effective fusion of the respective positioning results of the three flight bodies. The simulation results show that the proposed algorithm can achieve the accurate relative positioning between the three flight bodies under the condition of under-redundant observation information and has high stability.