Collaborative Localization Method Based on Hybrid Network for Aerial Swarm

In light of the satellite rejection environment and how aircraft can obtain high-precision positioning, this paper proposes a collaborative correction algorithm for aircraft based on the rank-defect network. Aiming at the problem of insufficient anchor points, which result in insufficient observations and the divergence of aircraft inertial navigation errors, this algorithm can effectively improve the navigation performance of cluster aircraft. On the basis of the observation information provided by the anchor aircraft, the observation information between aircraft is fully utilized to improve the observability of the aircraft cluster positioning method. At the same time, the pseudo-observation equation of heterogeneous aircraft cluster positioning is introduced, and the divergence of inertial navigation positioning errors caused by insufficient observations is suppressed by the pseudo-observation solution. On the basis of introducing the pseudo-observation equation, the inertial navigation error is solved and corrected by the Newton iterative method and the divergence of the inertial navigation position error is restrained. Compared with an aircraft cluster positioning method that does not use the inertial navigation error co-correction based on the pseudo-observation solution, this paper can achieve better overall cluster positioning accuracy when the available observations are insufficient, which is suitable for practical applications.