Ye Lvyang, Yang Yikang, Ma Jiangang, Deng Lingyu, Li Hengnian
School of Electronic and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
State Key Laboratory of Astronautic Dynamics, General Armament Department, Xi'an Satellite Control Center, Xi'an 710043, China.
Sensors (Basel). 2022 Apr 22;22(9):3213. doi: 10.3390/s22093213.
In order to solve the collaborative navigation problems in challenging environments such as insufficient visible satellites, obstacle reflections and multipath errors, and in order to improve the accuracy, usability, and stability of collaborative navigation and positioning, we propose a dual-way asynchronous precision communication-timing-measurement system (DWAPC-TSM) LEO constellation multi-aircraft cooperative navigation and positioning algorithm which gives the principle, algorithm structure, and error analysis of the DWAPC-TSM system. In addition, we also analyze the effect of vehicle separation range on satellite observability. The DWAPC-TSM system can achieve high-precision ranging and time synchronization accuracy. With the help of this system, by adding relative ranging and speed measurement observations in an unscented Kalman filter (UKF), the multi-aircraft coordinated navigation and positioning of aircraft is finally realized. The simulation results show that, even without the aid of an altimeter, the multi-aircraft cooperative navigation and positioning algorithm based on the DWAPC-TSM system can achieve good navigation and positioning results, and with the aid of the altimeter, the cooperative navigation and positioning accuracy can be effectively improved. For the formation flight configurations of horizontal collinear and vertical collinear, the algorithm is universal, and in the case of vertical collinear, the navigation performance of the formation members tends to be consistent. Under different relative measurement accuracy, the algorithm can maintain good robustness; compared with some existing classical algorithms, it can significantly improve the navigation and positioning accuracy. A reference scheme for exploring the feasibility of a new cooperative navigation and positioning mode for LEO communication satellites is presented.
为解决可见卫星不足、障碍物反射和多径误差等具有挑战性环境下的协同导航问题，提高协同导航与定位的精度、可用性和稳定性，我们提出了一种双向异步精密通信 - 定时 - 测量系统（DWAPC - TSM）低地球轨道星座多飞行器协同导航与定位算法，给出了DWAPC - TSM系统的原理、算法结构和误差分析。此外，我们还分析了飞行器间距对卫星可观测性的影响。DWAPC - TSM系统能够实现高精度测距和时间同步精度。借助该系统，通过在无迹卡尔曼滤波器（UKF）中添加相对测距和速度测量观测值，最终实现了飞行器的多飞行器协同导航与定位。仿真结果表明，即使不借助高度计，基于DWAPC - TSM系统的多飞行器协同导航与定位算法也能取得良好的导航与定位结果，且借助高度计可有效提高协同导航与定位精度。对于水平共线和垂直共线的编队飞行构型，该算法具有通用性，在垂直共线情况下，编队成员的导航性能趋于一致。在不同相对测量精度下，该算法能够保持良好的鲁棒性；与一些现有的经典算法相比，它能显著提高导航与定位精度。提出了一种探索低地球轨道通信卫星新型协同导航与定位模式可行性的参考方案。
