| 摘要: |
| UAV是无人驾驶飞机（Unmanned Aerial Vehicle）的简称，无人机相较于有人驾驶飞机具有用途广泛、成本低和生存能力强等特点，在军事民用领域都有着广阔的前景，受到了国内外研究者的关注。协同导航技术极大地扩展了无人机的应用范围，
提高了多无人机定位的精度以及无人机编队的稳定性、安全性和可靠性
。现阶段协同导航技术在编队导航、目标监测与跟踪等诸多方面都得到了研究与应用。从四个层次对协同导航的研究现状和进展进行探讨：首先是对多无人机协同导航的概念、基本原理、国内外发展现状和必要性进行阐述；其次对协同导航中相对导航方式进行了分类分析，并分别介绍了无线电导航与视觉导航的原理、优缺点和应用场景；然后从导航目的、协同导航优化算法、滤波方法、协同导航信息融合容错策略几个方面对协同导航进行分析归纳；最后，讨论了基于多无人机协同导航未来的发展趋势。 |
| 关键词: 协同导航 视觉导航 无线电导航 信息融合 卡尔曼滤波 |
| DOI： |
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| 基金项目: |
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| A Literature Review on the Research Status and Progress of Cooperative Navigation Technology for Multiple UAVs |
| XU Xiao-wei,LAI Ji-zhou,LV Pin,FAN Liu-yi |
| (Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China) |
| Abstract: |
| UAV is an abbreviation for Unmanned Aerial Vehicle.Compared with manned vehicle, UAVs have characteristics of wide-range in application, low cost and strong survival ability.Because of the broad prospect in the military and civilian field, researchers are attracted by UAVs both at home and abroad.Cooperative navigation technology has greatly expanded the scope of UAVs applications.It can not only improve positioning accuracy of UAVs, but also for the stability, security and reliability.Recently, cooperative navigation technology has been researched and applied in the aspects of formation navigation, target monitoring, tracking and so on.The research status and progress of cooperative navigation technology are divided into four levels in this paper: cooperative navigation concept, basic principles, development status and necessity would be described in the first part; secondly, the relative navigation methods in cooperative navigation are classified and analyzed，mainly including principles, advantages and disadvantages，application scenarios of radio navigation and visual navigation.Then, the cooperative navigation is summarized from the aspects of navigation purpose, cooperative navigation optimization algorithm, filtering method, information fusion and fault-tolerant strategy.At last, key problems and development trend of multi-UAVs cooperative navigation are discussed |
| Key words: Cooperative navigation Visual navigation Radio navigation Information fusion Kalman filtering |
