Multi-machine cooperative passive localization based on MEMS/GNSS

Zhi ZHANG; Hong-qian LU; Xiao-jun BAN; Xian-lin HUANG; Xue-mei LIU

doi:10.37188/OPE.2021.0285

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Multi-machine cooperative passive localization based on MEMS/GNSS

Micro/Nano Technology and Fine Mechanics | 更新时间：2022-01-07

- Multi-machine cooperative passive localization based on MEMS/GNSS
- Optics and Precision Engineering Vol. 29, Issue 12, Pages: 2844-2854(2021)
- 作者机构：
  
  1.哈尔滨工业大学航天学院，黑龙江哈尔滨 150000
  2.航天飞行器生存技术与效能评估实验室，北京 100085
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.2021.0285
  CLC： TN713.7;TN971.1
- Received：10 May 2021，
  
  Revised：18 June 2021，
  
  Published：15 December 2021
- 稿件说明：
移动端阅览
张治,卢鸿谦,班晓军等.基于MEMS/GNSS的多机协同无源定位[J].光学精密工程,2021,29(12):2844-2854.

ZHANG Zhi,LU Hong-qian,BAN Xiao-jun,et al.Multi-machine cooperative passive localization based on MEMS/GNSS[J].Optics and Precision Engineering,2021,29(12):2844-2854.
张治,卢鸿谦,班晓军等.基于MEMS/GNSS的多机协同无源定位[J].光学精密工程,2021,29(12):2844-2854. DOI： 10.37188/OPE.2021.0285.

ZHANG Zhi,LU Hong-qian,BAN Xiao-jun,et al.Multi-machine cooperative passive localization based on MEMS/GNSS[J].Optics and Precision Engineering,2021,29(12):2844-2854. DOI： 10.37188/OPE.2021.0285.

摘要

为了对多机协同定位算法进行研究，使用采集到的某款较高精度的MEMS惯组的噪声数据替代仿真噪声数据，模拟采用MEMS/GNSS组合导航算法的载机平台，使得定位算法的使用条件更加接近真实应用水平，并对在仅有视线角测量情况下的无源定位算法进行了精度分析和改进。以MEMS惯组真实数据为依据设置组合导航算法的参数，并在模拟载机的过程中加入真实惯组噪声，通过组合导航解算获得载机的位置坐标。建立仅有视线角量测的无源定位算法数学模型，在组合导航定位的计算结果稳定之后，利用获得的自身位置数据，基于扩展卡尔曼滤波估计目标的位置及速度信息。最后，利用联邦滤波算法，将该定位算法扩展为多机协同定位算法，进一步提高定位系统的容错性能。通过分析对比双机定位模型的几何精度误差与双机协同定位算法的表现，可知文中算法能够将定位精度从100 m量级降到10 m量级，实现了仅有视线角测量情况下的多机协同定位，定位精度高，且分析结果更符合实际情况。

Abstract

To study the cooperative localization algorithm for multi-aircrafts， noise data collected from a high-precision micro-electro-mechanical system （MEMS） inertial measurement unit （IMU）， instead of simulation noise data， was employed to simulate the carrier platform using a MEMS/GNSS-integrated navigation algorithm to ensure that the application conditions of the positioning algorithm correspond to those in real applications. In addition， the accuracy of the passive location algorithm with only the line-of-sight（LOS）angle measurement was analyzed and improved. First，the parameters of the integrated navigation algorithm were set based on the real data of the MEMS IMU. Then， real IMU noise was added during the process of simulating the aircraft. The position coordinates of the aircrafts were obtained from the integrated navigation calculation process. Then，the mathematical model of the passive location algorithm was established based on only the LOS angle measurement. After the calculation results of the integrated navigation position stabilized，the position and velocity information of the target were estimated based on the extended Kalman filter（EKF）by employing position data. Finally，the federated filter algorithm was applied to extend the localization algorithm to a multi-machine cooperative localization algorithm，which further improved the fault-tolerant performance of the positioning system. An analysis and comparison of the geometric dilution precision （GDOP）of the dual machine positioning model and the performance of the dual aircraft cooperative positioning algorithm indicate that the proposed algorithm reduces the positioning accuracy of from 100 m to 5 m. The verification platform consists of simulated aircrafts with real MEMS sensor noise， which can determine their own positioning by utilizing the integrated navigation algorithm. Based on the federated filter algorithm，the multi-aircraft cooperative positioning is realized only for the case of the LOS angle measurement. The positioning accuracy is high，and the analysis results have practical value as reference.

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