Cooperative Positioning Method of a Multi-UAV Based on an Adaptive Fault-Tolerant Federated Filter

Aiming at the problem of the low cooperative positioning accuracy and robustness of multi-UAV formation, a cooperative positioning method of a multi-UAV based on an adaptive fault-tolerant federated filter is proposed. Combined with the position of the follower UAV and leader UAV, and the relative range between them, a cooperative positioning model of the follower UAV is established. On this basis, an adaptive fault-tolerant federated filter is designed. Fault detection and isolation technology are added to improve the positioning accuracy of the follower UAV and the fault tolerance performance of the filter. Meanwhile, the measurement noise matrix is adjusted by the adaptive information allocation coefficient to reduce the impact of undetected fault information on the sub-filter and global estimation accuracy. The simulation results show that the adaptive fault-tolerant federated algorithm can greatly improve the positioning accuracy, which is 83.4% higher than that of the absolute positioning accuracy of a single UAV. In the case of a gradual fault, the method has a stronger fault-tolerant performance and reconstruction performance.

Cooperative Location Method for Leader-Follower UAV Formation Based on Follower UAV's Moving Vector

The traditional leader-follower Unmanned Aerial Vehicle (UAV) formation cooperative positioning (CP) algorithm, based on relative ranging, requires at least four leader UAV positions to be known accurately, using relative distance with leader UAVs to achieve the unknown position follower UAV's high-precision positioning. When the number of the known position leader UAVs is limited, the traditional CP algorithm is not applicable. Aiming at the minimum cooperative unit, which consists of a known position leader UAV and an unknown position follower UAV, this paper proposes a CP method based on the follower UAV's moving vector. Considering the follower UAV can only acquire the single distance with the leader UAV at each distance-sampling period, it is difficult to determine the follower UAV's spatial location. The follower UAV's moving vector is used to construct position observation of the follower UAV's inertial navigation system (INS). High-precision positioning is achieved by combining the follower UAV's moving vector. In the process of CP, the leader UAV obtains a high-precision position by an INS/Global Positioning System (GPS) loosely integrated navigation system and transmits its position information to the follower UAV. Based on accurate modeling of the follower UAV's INS, the position, velocity and heading observation equation of the follower UAV's INS are constructed. The improved extended Kalman filtering is designed to estimate the state vector to improve the follower UAV's positioning accuracy. In addition, considering that the datalink system based on radio signals may be interfered with by the external environment, it is difficult for the follower UAV to obtain relative distance information from the leader UAV in real time. In this paper, the availability of the relative distance information is judged by a two-state Markov chain. Finally, a real flight test is conducted to validate the performance of the proposed algorithm.

Research on an LEO Constellation Multi-Aircraft Collaborative Navigation Algorithm Based on a Dual-Way Asynchronous Precision Communication-Time Service Measurement System (DWAPC-TSM)

In order to solve the collaborative navigation problems in challenging environments such as insufficient visible satellites, obstacle reflections and multipath errors, and in order to improve the accuracy, usability, and stability of collaborative navigation and positioning, we propose a dual-way asynchronous precision communication–timing–measurement system (DWAPC-TSM) LEO constellation multi-aircraft cooperative navigation and positioning algorithm which gives the principle, algorithm structure, and error analysis of the DWAPC-TSM system. In addition, we also analyze the effect of vehicle separation range on satellite observability. The DWAPC-TSM system can achieve high-precision ranging and time synchronization accuracy. With the help of this system, by adding relative ranging and speed measurement observations in an unscented Kalman filter (UKF), the multi-aircraft coordinated navigation and positioning of aircraft is finally realized. The simulation results show that, even without the aid of an altimeter, the multi-aircraft cooperative navigation and positioning algorithm based on the DWAPC-TSM system can achieve good navigation and positioning results, and with the aid of the altimeter, the cooperative navigation and positioning accuracy can be effectively improved. For the formation flight configurations of horizontal collinear and vertical collinear, the algorithm is universal, and in the case of vertical collinear, the navigation performance of the formation members tends to be consistent. Under different relative measurement accuracy, the algorithm can maintain good robustness; compared with some existing classical algorithms, it can significantly improve the navigation and positioning accuracy. A reference scheme for exploring the feasibility of a new cooperative navigation and positioning mode for LEO communication satellites is presented.

A Distance Increment Smoothing Method and Its Application on the Detection of NLOS in the Cooperative Positioning

The wide use of cooperative missions using multiple unmanned platforms has made relative distance information an essential factor for cooperative positioning and formation control. Reducing the range error effectively in real time has become the main technical challenge. We present a new method to deal with ranging errors based on the distance increment (DI). The DI calculated by dead reckoning is used to smooth the DI obtained by the cooperative positioning, and the smoothed DI is then used to detect and estimate the non-line-of-sight (NLOS) error as well as to smooth the observed values containing random noise in the filtering process. Simulation and experimental results show that the relative accuracy of NLOS estimation is 8.17%, with the maximum random error reduced by 40.27%. The algorithm weakens the influence of NLOS and random errors on the measurement distance, thus improving the relative distance precision and enhancing the stability and reliability of cooperative positioning.

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Cooperative positioning (CP) utilises information sharing among multiple nodes to enable positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in GNSS-denied environments. This data set was collected as part of a benchmarking measurement campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped with a variety of sensors, including two different UWB systems, on a specially designed helmet serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode along trajectories with predefined checkpoints and under various challenging environments. In the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements are used for positioning of the pedestrians. It is realised that the proposed system can achieve decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals, provided that the measurements from infrastructure nodes are available and the network geometry is good. In the absence of these good conditions, the results show that the average accuracy degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative range observations further enhances the positioning accuracy and, in extreme cases when only one infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The complete test setup, the methodology for development, and data collection are discussed in this paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other signals of opportunity will be included.

An Empirical Study on V2X Enhanced Low-Cost GNSS Cooperative Positioning in Urban Environments

High-precision and lane selective position estimation is of fundamental importance for prospective advanced driver assistance systems (ADAS) and automated driving functions, as well as for traffic information and management processes in intelligent transportation systems (ITS). User and vehicle positioning is usually based on Global Navigation Satellite System (GNSS), which, as stand-alone positioning, does not meet the necessary requirements in terms of accuracy. Furthermore, the rise of connected driving offers various possibilities to enhance GNSS positioning by applying cooperative positioning (CP) methods. Utilizing only low-cost sensors, especially in urban environments, GNSS CP faces several demanding challenges. Therefore, this contribution presents an empirical study on how Vehicle-to-Everything (V2X) technologies can aid GNSS position estimation in urban environments, with the focus being solely on positioning performance instead of multi-sensor data fusion. The performance of CP utilizing common positioning approaches as well as CP integration in state-of-the-art Vehicular Ad-hoc Networks (VANET) is displayed and discussed. Additionally, a measurement campaign, providing a representational foundation for validating multiple CP methods using only consumer level and low-cost GNSS receivers, as well as commercially available IEEE 802.11p V2X communication modules in a typical urban environment is presented. Evaluating the algorithm’s performance, it is shown that CP approaches are less accurate compared to single positioning in the given environment. In order to investigate error influences, a skyview modelling seeking to identify non-line-of-sight (NLoS) effects using a 3D building model was performed. We found the position estimates to be less accurate in areas which are affected by NLoS effects such as multipath reception. Due to covariance propagation, the accuracy of CP approaches is decreased, calling for strategies for multipath detection and mitigation. In summary, this contribution will provide insights on integration, implementation strategies and accuracy performances, as well as drawbacks for local area, low-cost GNSS CP in urban environments.

Enhancement of Localization Systems in NLOS Urban Scenario with Multipath Ray Tracing Fingerprints and Machine Learning

A hybrid technique is proposed to enhance the localization performance of a time difference of arrival (TDOA) deployed in non-line-of-sight (NLOS) suburban scenario. The idea was to use Machine Learning framework on the dataset, produced by the ray tracing simulation, and the Channel Impulse Response estimation from the real signal received by each sensor. Conventional localization techniques mitigate errors trying to avoid NLOS measurements in processing emitter position, while the proposed method uses the multipath fingerprint information produced by ray tracing (RT) simulation together with calibration emitters to refine a Machine Learning engine, which gives an extra layer of information to improve the emitter position estimation. The ray-tracing fingerprints perform the target localization embedding all the reflection and diffraction in the propagation scenario. A validation campaign was performed and showed the feasibility of the proposed method, provided that the buildings can be appropriately included in the scenario description.

Factor Graph-Assisted Distributed Cooperative Positioning Algorithm in the GNSS System

The development of smart cities calls for improved accuracy in navigation and positioning services; due to the effects of satellite orbit error, ionospheric error, poor quality of navigation signals and so on, it is difficult for existing navigation technology to achieve further improvements in positioning accuracy. Distributed cooperative positioning technology can further improve the accuracy of navigation and positioning with existing GNSS (Global Navigation Satellite System) systems. However, the measured range error and the positioning error of the cooperative nodes exhibit larger reductions in positioning accuracy. In response to this question, this paper proposed a factor graph-aided distributed cooperative positioning algorithm. It establishes the confidence function of factor graphs theory with the ranging error and the positioning error of the coordinated nodes and then fuses the positioning information of the coordinated nodes by the confidence function. It can avoid the influence of positioning error and ranging error and improve the positioning accuracy of cooperative nodes. In the simulation part, the proposed algorithm is compared with a mainly coordinated positioning algorithm from four aspects: the measured range error, positioning error, convergence speed, and mutation error. The simulation results show that the proposed algorithm leads to a 30–60% improvement in positioning accuracy compared with other algorithms under the same measured range error and positioning error. The convergence rate and mutation error elimination times are only 1/5 to 1/3 of the other algorithms.

New Approach of High Sensitivity Techniques Using Collective Detection Method with Multiple GNSS Receivers

The Collective Detection (CD) technique is a promising approach to meet the requirements for signal acquisition in GNSS-harsh environments. The CD approach has been proposed because of its potential to operate as both a direct positioning method and a high-sensitivity acquisition method. This paper is dedicated to the development of a new CD architecture for processing satellite signals in challenging environments. It proposes the best signal acquisition method used according to the reception conditions of the different receivers that can assist the user in difficulty. Knowing that the CD approach is beneficial in the case where the maximum of satellite signals can be combined, the proposed approach consists in choosing the best receiver(s) from several connected receivers to serve as a reference station, as smart cooperative navigation concept. New metrics of the CD with optimal weighting of visible satellites are exploited. Analysis of optimization method in order to use better satellites according to some defined parameters (elevation, C / N 0 , and GDOP) were carried out. Real GPS L1 C/A signals are exploited to analyze the efficiency of the proposed approach. A comparison of the results through the accumulation of some good satellites among all visible satellites have shown the effectiveness of this method.

A Tightly-Coupled GPS/INS/UWB Cooperative Positioning Sensors System Supported by V2I Communication

This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm.