DIFFERENCE-RANGEFINDER METHOD OF DETERMINING BEACON COORDINATES USING UNMANNED AERIAL VEHICLES
S. V. Sokolov1, V. A. Pogorelov2, A. A. Manin1, K. T. Lomtatidze1
1Moscow Technical University of Communications and Informatics, Rostov-on-Don, Russia
2Don State Technical University, Rostov-on-Don, Russia
Keywords: mobile radio beacon, difference-rangefinder measurements, GPS measurements, small-sized unmanned aerial vehicles, navigation parameters, nonlinear filtering
Abstract
The solution of the problem of determining the coordinates of a radio beacon (including a mobile one) in real time using difference-rangefinder measurements taken by a grouping of small-sized unmanned aerial vehicles (UAV) is considered. To form this solution, the following equations are successively derived: equations describing the dynamics of changes in the navigation parameters of the UAV grouping and observers of these parameters based on GPS measurements, equations of motion of the mobile radio beacon and the observer of its navigation parameters, and, at the final stage, algorithms for filtering the UAV motion parameters by satellite measurements and the beacon motion parameters by measurements taken at the UAV. Numerical simulation of the filtering algorithms has shown the possibility of high-precision determination of the coordinates of a mobile radio beacon using the proposed approach.
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