关键词: 无人机, 运动参数, 机会信号, 可观性, 单站定位

Abstract:

The current estimation of the position of drones relies heavily on the Global Navigation Satellite System (GNSS).To solve this problem,a Single Station Positioning of Opportunity Signals Aided by Kinetic Parameters (SPoKP) is proposed.This paper gives the detailed steps of establishing the motion state transfer equation and position estimation output equation,deduces the observability condition for drones position estimation,and gives the method for motion parameter estimation and error suppression by setting the variable adaptive smoothing window,with the decision threshold for window setting given.Finally by relying on the recursion of the motion state and a single ranging radio frequency signal station,the estimation of positions of the drones in different motion states is realized.Theoretical simulation shows that in the environment where the navigation satellite system refuses,the single-station positioning algorithm for the radio frequency opportunistic signal assisted by dynamic parameters can achieve robust positioning of drones in different motion states,which can meet routine tasks such as delivery,drones cruise and reconnaissance and that the actual test using the ultra-wideband (UWB) signal beacon further verifies the accuracy and effectiveness of the proposed method.Compared with the navigation satellite system,the positioning root mean square error of the proposed algorithm is only 2.7 m,which verifies the feasibility of drones using opportunistic signals to achieve higher-precision positioning in a denial environment,and reduces the drones’ dependence on sensors of traditional navigation and positioning systems.

Key words: unmanned aerial vehicle, Kinetic parameters, signal of opportunity, observability, single-station positioning