Journal of Siberian Federal University. Engineering & Technologies / Determining the Relative Position of Unmanned Aerial Vehicles in a Group

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Issue
Journal of Siberian Federal University. Engineering & Technologies. Prepublication
Authors
Gladyshev, Andrey B.; Dmitriev, Dmitry D.; Ratushnyak, Vasily N.; Zhgun, Alexander V.; Golubyatnikov, Maxim A.
Contact information
Gladyshev, Andrey B.: Siberian Federal University Krasnoyarsk, Russian Federation; Dmitriev, Dmitry D.: Siberian Federal University Krasnoyarsk, Russian Federation; ; Ratushnyak, Vasily N.: Siberian Federal University Krasnoyarsk, Russian Federation; Zhgun, Alexander V.: Siberian Federal University Krasnoyarsk, Russian Federation; Golubyatnikov, Maxim A.: Siberian Federal University Krasnoyarsk, Russian Federation
Keywords
unmanned aerial vehicles; organization of group use of UAVs; relative navigation measurements; range-finding navigation method; super-resolution methods; MUSIC method
Abstract

The article examines the problems of navigation support for unmanned aerial vehicles (UAV) for their use in organized groups. To realize the synergistic effect from the group use of UAV, high positioning accuracy of each member of the group is required. Analysis of the accuracy characteristics of existing onboard navigation systems shows that none of them fully meets modern requirements for organizing joint actions of several UAVs as part of an organized group. The purpose of this work is to develop a new approach to determining the location of UAVs in a group relative to the leader UAV, based on high-precision measurement of distances and bearings between UAVs. To measure distances between UAVs, a method of symmetrical two-way bidirectional measurement is proposed, which is highly accurate and does not require synchronization of reference generators of devices in a group. This method is based on measuring the propagation time of a radio signal between the transceivers with which the UAVs are equipped, during symmetrical two-way signal transmission. The azimuth β and elevation angle α of the signal source emitted by the leader UAV are measured using an antenna array located on the UAV. It is proposed to achieve the required accuracy of angular coordinates and resolution by using MUSIC super-resolution methods. Based on the results of the work, a method for the combined use of the method of symmetrical two-way bidirectional distance measurement and the MUSIC super-resolution method is proposed, which allows for the location of one UAV relative to another to be determined with high accuracy

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Paper at repository of SibFU
https://elib.sfu-kras.ru/handle/2311/156143

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