航空科学技术2025，Vol.36Issue(3)：48-53,6.DOI:10.19452/j.issn1007-5453.2025.03.006
5G-D2D增强的无人机集群相对导航方法
5G-D2D Enhanced Relative Navigation Method for UAV Swarm
摘要
Abstract
Precise relative navigation state estimation is a key step for unmanned aerial vehicle(UAV)formation flight.To address the performance degradation issue of relative navigation systems in traditional UAV swarms under poor satellite navigation availability,this paper introduces an enhanced UAV relative navigation state estimation method utilizing 5G-D2D communications.The proposed method designs an observation model for the relative state filter,based on double-differenced pseudorange measurements and 5G-D2D measurements.Additionally,a relative motion model between UAVs is constructed based on the characteristics of the attitude and heading reference system(AHRS).Subsequently,an Extended Kalman Filter(EKF)is employed as the estimation framework to integrate all navigation sensor information.Simulation results reveal that 5G-D2D measurements can significantly improve the performance of relative navigation systems that solely rely on satellites,with a more pronounced enhancement when fewer satellites are available.This work can effectively reduce the reliance of UAV relative navigation systems on GNSS and enhance the accuracy of relative navigation estimation.关键词
无人机/相对导航/5G-D2D/伪距/航姿系统Key words
UAV/relative navigation/5G-D2D/pseudorange/AHRS引用本文复制引用
熊骏,解相朋,周峰..5G-D2D增强的无人机集群相对导航方法[J].航空科学技术,2025,36(3):48-53,6.基金项目
航空科学基金(2022Z0220X9001) Aeronautical Science Foundation of China(2022Z0220X9001) （2022Z0220X9001）
