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A distributed cooperative navigation method based on absolute modelling is proposed for the navigation problem of low-cost UAV swarms in GNSS signal interference areas. This method leverages ranging information and a 9-dimensional state model to achieve precise positioning and configuration maintenance of the swarm, even with a small number of anchor nodes. A particle-based measure noise estimation method is introduced to address errors caused by linearization when considering the uncertainty of neighboring nodes’ positions. Simulation results demonstrate that, with the assistance of the cooperative mechanism, the absolute position error of a general node is reduced to 5.89 m and the relative distance error to 0.87 m. Furthermore, the particle-based measure noise estimation method improves absolute and relative navigation accuracy by 37.21% and 25.00%, respectively. The proposed method offers low cost, minimal data transmission, and is well-suited for engineering applications.

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UAV Swarm Cooperative Navigation Technology in Partial GNSS-Denied Environment

  • 会议论文

  • 发表日期：

    2025年

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  • Siying Lin,
  • Feng Yu,
  • Zijun Zhou,
  • Chenyang Li

摘要

A distributed cooperative navigation method based on absolute modelling is proposed for the navigation problem of low-cost UAV swarms in GNSS signal interference areas. This method leverages ranging information and a 9-dimensional state model to achieve precise positioning and configuration maintenance of the swarm, even with a small number of anchor nodes. A particle-based measure noise estimation method is introduced to address errors caused by linearization when considering the uncertainty of neighboring nodes’ positions. Simulation results demonstrate that, with the assistance of the cooperative mechanism, the absolute position error of a general node is reduced to 5.89 m and the relative distance error to 0.87 m. Furthermore, the particle-based measure noise estimation method improves absolute and relative navigation accuracy by 37.21% and 25.00%, respectively. The proposed method offers low cost, minimal data transmission, and is well-suited for engineering applications.