Cooperative Navigation Based on Inertial Navigation and Network Relative Positioning

Inertial navigation system is widely used in the field of UAV localization, which is an autonomous navigation system that does not rely on external information, but in the environment of GNSS denial, the measurement errors accumulated by inertial devices over time are not corrected, which will lead to a rapid deterioration of the localization accuracy. The development of multi-UAV cooperative networking technology and network relative navigation has promoted the research of multi-UAV cooperative navigation methods. Cooperative navigation can improve the multiplicity of navigation data by introducing the distance measurement data between UAVs, and the positioning accuracy can be greatly improved by inter-machine information interaction and navigation data fusion. In this paper, the extended Kalman filter algorithm is adopted to correct the INS error using the distance measurement information between UAVs. The results show that this cooperative navigation scheme can significantly improve the navigation accuracy compared with inertial navigation.