Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Cooperative Navigation for UAVs with Inertial Sensors and Passive Sensor Using Wireless Communication

무선통신을 이용한 관성센서 및 수동센서 장착 무인기들의 협력 항법

  • 성상만 (한국기술교육대학교 메카트로닉스공학부)
  • Received : 2012.12.03
  • Accepted : 2012.12.31
  • Published : 2013.02.01
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Abstract

A cooperative navigation method for cooperative flight of UAVs is proposed. The commonly used navigation method for UAVs is based on GNSS measurements. However, when it is not available by jamming or other causes, an alternative method is needed. In this paper, it is shown that UAVs equipped with inertial sensors, passive sensor and wireless communication link can perform accurate navigation through sharing information with each other. Firstly, the appropriate roles for sensors and wireless communication link are assigned. Secondly, a filter to perform navigation cooperative is constructed. Finally, the boundedness of estimation error of the filter under small initial estimation error is analyzed. The simulation results show that the proposed method can reduce navigation errors effectively.

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References

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