JTIDS/INS Based on Global-Measurements-Sharing for UAV Flight Formation

Jianwen Fan, Chuang Lei, Guoliang Sun

Abstract: JTIDS/INS decentralized combination based on location information sharing is a common way for flight formation navigation and positioning. Each member in the team only needs to carry on the filter processing of own position speed and so on, does not need to estimate the other member's movement state. Therefore the data processing pressure is smaller and easily to realize. But the decentralized combination need source selection processing based on source members’ position information quality to keep the combination filter working properly. Source selections not only directly affects the positioning accuracy of the combination filter, but also affects the stability of the whole navigation of formation flight. It can easily lead to system diverge, especially in some worse cases of geometric formation. To solve the problem, this paper proposes a new JTIDS/INS integration method based on global measurements sharing from all members in the team for UAV flight formation. The way to build a suitable relative coordinates for flight formation was given. Integrated Kalman filter for navigation processing were properly corrected and extended to adopt the new method. Designs of state equation and observation equation were described in detail according to the global measurements sharing. In order to verify the design and algorithm of JTIDS/INS Integrated navigation based on global measurements sharing, Computer simulation was done in condition of a typical four UAVs flight formation with two different flying scenes. Simulation results show that the JTIDS/INS Integrated navigation can work properly without any sources selection process. In the same time, it can achieve more accurate relative positioning than combination way based on position sharing.
Published in: Proceedings of the 30th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
Portland, Oregon
Pages: 718 - 726
Cite this article: Fan, Jianwen, Lei, Chuang, Sun, Guoliang, "JTIDS/INS Based on Global-Measurements-Sharing for UAV Flight Formation," Proceedings of the 30th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 718-726. https://doi.org/10.33012/2017.15341
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