Highly reliable relative navigation for multi-UAV formation flight in urban environments

• DOI: 10.1016/j.cja.2020.05.022
• Publication Date: 2020-06-11T00:58:45Z
• Authors: Shizhuang WANG; Xingqun ZHAN; Yawei ZHAI; Cheng CHI; Jiawen SHEN
• Keywords: Position (finance)

Formation flight of multiple Unmanned Aerial Vehicles (UAVs) is expected to bring significant benefits a wide range applications. Accurate and reliable relative position information prerequisite safely maintain fairly close distance between UAVs achieve inner-system collision avoidance. However, Global Navigation Satellite System (GNSS) measurements are vulnerable erroneous signals in urban canyons, which could potentially lead catastrophic consequences. Accordingly, on the basis performing positioning with double differenced pseudoranges, this paper develops an integrity monitoring framework improve navigation (a measure reliability) environments. On one hand, includes fault detection exclusion scheme protect against measurement faults. To accommodate scenarios, spatial dependence faults taken into consideration by scheme. other protection level rigorously derived describe probabilistic error bound output. This indicator can be used evaluate risk warn danger real time. The proposed algorithms validated both simulations experiments. Simulation results quantitatively reveal sensitivity performance receiver configurations environmental conditions. And experimental suggest high efficiency effectiveness new framework.