南京航空航天大学学报（英文版）2025，Vol.42Issue(z1)：38-50,13.DOI:10.16356/j.1005-1120.2025.S.004
基于置信度评估的多无人系统协同定位方法
Cooperative Positioning Method for Multi-unmanned Systems Based on Confidence Evaluation
摘要
Abstract
In order to solve the problem of limited computational resources of multi-unmanned systems airborne navigation platform,a distributed cooperative positioning method based on confidence evaluation is proposed.Firstly,the impact of ranging error,priori information,spatial geometric configuration and adjacent nodes count on cooperative positioning performance are analyzed individually.Secondly,a confidence evaluation method for measurement information of adjacent nodes is designed according to the cooperative positioning principle,which comprehensively considers the coupling relationship between influencing factors.Finally,a distributed cooperative navigation filter based on inter-vehicle ranging is designed.Simulation studies show that confidence evaluation method proposed in this paper can effectively characterize the contribution of measurement information to positioning results,and positioning accuracy under the proposed method is improved by more than 15%compared with the traditional screening methods based on optimal geometric configuration and closest distance.关键词
置信度评估/分布式架构/协同定位/精度因子/多源融合Key words
confidence evaluation/distributed architecture/cooperative positioning/dilution of precision/multi-source fusion引用本文复制引用
史晨发,熊智,武天煦,李其杰,王慧明,周昊宇..基于置信度评估的多无人系统协同定位方法[J].南京航空航天大学学报（英文版）,2025,42(z1):38-50,13.基金项目
This work was supported in part by National Natural Science Foundation of China(Nos.62073163,62103285,62203228),National Defense Basic Research Program(No.JCKY2020605C009),Aero-nautic Science Foundation of China(Nos.ASFC-2020Z0710 52001,202055052003),Foundation Strengthening Pro-gram Technology 173 Field Fund(No.2021-JCJQ-JJ-0308). （Nos.62073163,62103285,62203228）
