METHOD OF NAVIGATION AND POSITIONING OF SWARMS OF UNMANNED AERIAL VEHICLES WHEN PERFORMING SPECIAL MISSIONS
D. Galinskyi · Випробування та сертифікація · 2025
The article identifies that swarms of unmanned aerial vehicles (UAVs) have unique advantages in performing special tasks and can be effectively used in various scenarios. Accurate navigation within the swarm is the basis and prerequisite for performing these tasks. Unlike the localization of a single UAV, swarms allow the exchange and dissemination of accurate information about the positioning of each UAV, which increases the overall accuracy of the swarm localization, but also creates the problem of uncertainty propagation. To eliminate the uncertainty, an integrated navigation and positioning method is improved, which reduces uncertainties. The basis of the method is the mathematical model of the normal gamma distribution. The stages of joint navigation of a UAV swarm can be defined as follows: first, a robust filter for integrated navigation based on the normal gamma distribution method is used to estimate error states and solve the problem of measurement uncertainty caused by outliers in external correction information; secondly, based on external corrective information and INS resolution, integrated navigation is performed to determine positions in the UAV swarm and statistical linearization of the distance measurement model; thirdly, based on the linearized model, the augmented nonlinear least squares method is used to estimate the positions of other UAVs, which ultimately gives localization results for the entire swarm when performing special missions. Thus, the method of navigation and positioning of a swarm of unmanned aerial vehicles when performing special missions is improved, which, unlike existing ones, is based on an integral approach to eliminating uncertainties by applying a filter based on the normal gamma distribution, a statistical linearization model and mutual positioning of UAVs.