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Collaborative navigation method based on adaptive time-varying factor graph

Published online by Cambridge University Press:  17 January 2025

H. Wang ,
L. Hu Open the ORCID record for L. Hu [Opens in a new window]  and
J. Tao Open the ORCID record for J. Tao [Opens in a new window]
H. Wang
Affiliation:
School of Information and Communication Engineering, Harbin Engineering University, Harbin, China
L. Hu*
Affiliation:
School of Information and Communication Engineering, Harbin Engineering University, Harbin, China
J. Tao
Affiliation:
School of Information and Communication Engineering, Harbin Engineering University, Harbin, China
*
Corresponding author: L. Hu; Email: [email protected]
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Abstract

Aiming at the problems of poor coordination effect and low positioning accuracy of unmanned aerial vehicle (UAV) formation cooperative navigation in complex environments, an adaptive time-varying factor graph framework UAV formation cooperative navigation algorithm is proposed. The proposed algorithm uses the factor graph to describe the relationship between the navigation state of the UAV fleet and its own measurement information as well as the relative navigation information, and detects the relative navigation information at each moment by the double-threshold detection method to update the factor graph model at the current moment. And the robust estimation is combined with the factor graph, and the weight function measurements are used in the construction of the factor nodes for adaptive adjustment to make the system highly robust. The simulation results show that the proposed method realises the effective fusion of airborne multi-source sensing information and relative navigation information, which effectively improves the UAV formation cooperative navigation accuracy.

Keywords

factor graphcooperative navigationUAV formationdouble-threshold detectionrobust estimation
Type
Research Article
Information
The Aeronautical Journal , First View , pp. 1 - 14
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Copyright
© The Author(s), 2025. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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