THE EFFECT OF MOTION FORMATION ON COOPERATIVE NAVIGATION

IF 0.8 Q3 ENGINEERING, AEROSPACE

Aviation Pub Date : 2022-12-08 DOI:10.3846/aviation.2022.17552

Mohammad Saberi Tavakkoli, G. Kahe, F. Sadeghikia

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Abstract

The effect of formation movement on the performance of cooperative navigation is investigated in this paper. First, the inertial navigation system of each agent with a certain accuracy is modeled and simulated. Initial results showed that the navigation error of each agent increased individually over time, and this problem is more severe for agents equipped with a weaker system. Cooperative navigation is implemented for the agents to resolve this problem. It is shown that the total navigation errors are improved by observing and participating the relative distance between the agents. Various simulations and experimental tests using two real agents supported this assertation. The performance of cooperative navigation can be improved further through appropriate formation. Proper formations are investigated and evaluated through simulations. The collective covariance matrix is employed to form an objective function using an extended Kalman filter (EKF). This function has been minimized using Newton’s method, which could be the solution for the formation. The simulation results show that better accuracy can be achieved by applying the optimal formation trajectory.

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运动编队对协同导航的影响

研究了编队运动对协同导航性能的影响。首先，对每个具有一定精度的智能体的惯性导航系统进行建模和仿真。初步结果表明，随着时间的推移，每个代理的导航误差都会单独增加，而对于配备较弱系统的代理来说，这个问题更为严重。为了解决这个问题，为代理实现了协作导航。结果表明，通过观察和参与Agent之间的相对距离，可以改善总导航误差。使用两个真实代理的各种模拟和实验测试支持了这一结论。通过适当的编队，可以进一步提高协同导航的性能。通过模拟研究和评估合适的地层。集合协方差矩阵用于使用扩展卡尔曼滤波器（EKF）来形成目标函数。该函数已使用牛顿法最小化，牛顿法可能是地层的解。仿真结果表明，应用最优编队轨迹可以获得更好的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Aviation ENGINEERING, AEROSPACE-

CiteScore

2.40

自引率

10.00%

发文量

审稿时长

15 weeks

期刊介绍： CONCERNING THE FOLLOWING FIELDS OF RESEARCH: ▪ Flight Physics ▪ Air Traffic Management ▪ Aerostructures ▪ Airports ▪ Propulsion ▪ Human Factors ▪ Aircraft Avionics, Systems and Equipment ▪ Air Transport Technologies and Development ▪ Flight Mechanics ▪ History of Aviation ▪ Integrated Design and Validation (method and tools) Besides, it publishes: short reports and notes, reviews, reports about conferences and workshops