Range-based collaborative relative navigation for multiple unmanned aerial vehicles using consensus extended Kalman filter

Gong, Baichun; Wang, Sha; Hao, Mingrui; Guan, Xujun; Li, Shuang

doi:10.1016/j.ast.2021.106647

Cited by 33 publications

(11 citation statements)

References 21 publications

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“…We establish the 15-dimension relative state vector between formation members, as shown in equation (3) 15,16…”

Section: Relative Dynamic Modelmentioning

confidence: 99%

“…We establish the 15-dimension relative state vector between formation members, as shown in equation (3) 15,16 where bold-italicpikhi∈double-struckR2×1 is the relative position of UAV k in the body-fixed horizontal frame of UAV i . Vectors bold-italicvihi and bold-italicvkhk∈double-struckR2×1 are the projections of the horizontal velocities of UAV i and UAV k in the frame hi and hk.…”

Section: Problem Statement and Relative Modelmentioning

confidence: 99%

“…However, the velocity measurement accuracy of the optical flow method is greatly affected by the environment and speed of the aircraft, and the speed measurement information is unavailable in some cases. Gong et al 16 presented a range-based collaborative relative navigation algorithm for fixed-wing UAV formation by integrated ranging sensor with other commonly used onboard sensors such as low-cost IMUs but without optical flow measurement. Martel 17 proposed a unique four-degree-of-freedom relative posing and positioning scheme using the distance measurement information of at least six times the ultra-wideband and displacement information of each aircraft from each origin measured by V-SLAM.…”

Section: Introductionmentioning

confidence: 99%

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Study on angle-only relative navigation for unmanned aerial vehicle formation in GPS-denied environment

Zheng

Wang

Gong

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

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To satisfy the autonomous relative navigation demand of unmanned aerial vehicle (UAV) formation in a GPS-denied environment, an angle-only relative navigation algorithm is proposed. First, the relative states in 3-dimension space are decoupled into relative motion along the horizontal plane and altitude by applying the relative azimuth between the north-east-down global frame and the body-fixed horizontal frame belonging to UAVs. Second, a relative dynamic and measurement model considering the measurement deviation of sensors are established. This solves the problem of colored noise in a majority of sensors used in practical engineering. Third, a consensus constraint model of relative states is established by introducing a geometric constraint among formation members. Additionally, a consensus-extended Kalman filter is designed. Finally, the angle-only relative navigation method is validated using standard Monte Carlo simulations. The simulation results show that all the states of the system are observable when the observability criterion is satisfied. The relative position accuracy achieved using gyros with a drift rate of 50°/h, accelerometers with 1 mg deviation, and optical cameras with 1° Gaussian white noise is within 10 m (3σ). Additionally, the method proposed in this study can be used to estimate the sensor measurement deviations effectively. Furthermore, it can be potentially applied to improve the absolute navigation accuracy of UAVs.

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“…We establish the 15-dimension relative state vector between formation members, as shown in equation (3) 15,16…”

Section: Relative Dynamic Modelmentioning

confidence: 99%

Section: Problem Statement and Relative Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Study on angle-only relative navigation for unmanned aerial vehicle formation in GPS-denied environment

Zheng

Wang

Gong

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part G:

Self Cite

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show abstract

“…With the rapid development of science and technology, multiagent systems are widely used in many fields, such as multirobot cooperation (Huang et al, 2018 ; Dai et al, 2021 ; Zhai et al, 2021 ), unmanned surface vehicles (Zhou et al, 2020 ; Gu et al, 2021 ; Huang et al, 2021 ), unmanned aerial vehicles (Gong et al, 2021 ; Tran et al, 2021 ; Zhou and Chen, 2021 ), and other fields. The multiagent system cooperative control mainly includes consensus, formation, and swarm, and the problem of consensus control, as the foundation of multiagent systems cooperative control, has received much attention from scholars (Cai et al, 2021 ; Ning et al, 2021 ; Su H. et al, 2021 ; Wang C. et al, 2021 ; Wei and Xiao, 2021 ).…”

Section: Introductionmentioning

confidence: 99%

Prescribed performance adaptive event-triggered consensus control for multiagent systems with input saturation

et al. 2023

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In this paper, a prescribed performance adaptive event-triggered consensus control method is developed for a class of multiagent systems with the consideration of input dead zone and saturation. In practical engineering applications, systems are inevitably suffered from input saturation. In addition, input dead zone is widely existing. As the larger signal is limited and the smaller signal is difficult to effectively operate, system efficacious input encounters unknown magnitude limitations, which seriously impact system control performance and even lead to system instability. Furthermore, when constrained multiagent systems are required to converge quickly, the followers would achieve it with drastic and quick variation of states, which may violate the constraints and even cause security problems. To address those problems, an adaptive event-triggered consensus control is proposed. By constructing the transform function and the barrier Lyapunov function, while state constrained is guaranteed, multiagent systems quickly converge with prescribed performance. Finally, some examples are adopted to confirm the effectiveness of the proposed control method.

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“…First, the EKF is applied to estimate the relative positions of the agents. Second, a correction step is performed to enforce the geometric constraints to be satisfied (Gong et al, 2021;Guo et al, 2019;Ziegler et al, 2021). Consensus-based EKFs can be used in large-scale networks with limited communication and computation resources.…”

Section: Introductionmentioning

confidence: 99%

Decentralized triangular relative navigation of multiple UAVs based on relative range and inertial measurements

Alizad,

Hadi

2023

Preprint

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In this paper, a novel algorithm for cooperative relative navigation of multiple Unmanned Aerial Vehicles (UAVs) is proposed based on relative range and inertial measurements. In this algorithm, a relative motion estimation model is established for each group of three UAVs that can form a triangle in space. Each group member estimates the relative position and heading angle of the other group members and shares the estimation results with the other group members. When members satisfy the triangle law among their estimated relative position vectors, they can estimate more accurately. After analyzing the observability of the presented model, the necessary conditions for observability are also given, which are less restrictive compared to previous methods. Then, the presented method is compared with the distributed extended Kalman method. The results of both methods are analyzed in the presence of noise, disturbances, and under the condition of disconnection between the members.

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Range-based collaborative relative navigation for multiple unmanned aerial vehicles using consensus extended Kalman filter

Cited by 33 publications

References 21 publications

Study on angle-only relative navigation for unmanned aerial vehicle formation in GPS-denied environment

Study on angle-only relative navigation for unmanned aerial vehicle formation in GPS-denied environment

Prescribed performance adaptive event-triggered consensus control for multiagent systems with input saturation

Decentralized triangular relative navigation of multiple UAVs based on relative range and inertial measurements

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