novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.24.364-373novtexmech-1407Research ArticleДИНАМИКА, БАЛЛИСТИКА И УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВDYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFTОбзор методов относительной навигации в группах беспилотных летательных аппаратовSurvey of Relative Navigation Methods for Multi-Agent Unmanned Aerial Vehicle SystemsАбдрашитовА. Р.AbdrashitovA. R.

аспирант

г. Долгопрудный

Abdrashitov A. R., Postgraduate Student

Dolgoprudny, 141707, Moscow region

artur.abdrashitov@phystech.eduФедеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)"РоссияMoscow Institute of Physics and TechnologyRussian Federation202309072023247364373Copyright © Commercial Publisher «New Technologies», 20232023Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1407

Групповое применение беспилотных летательных аппаратов (БПЛА) требует стабильной и высокоточной навигации. Существующие навигационные решения, такие как глобальные навигационные спутниковые системы (ГНСС) и инерциальные навигационные системы, могут работать неэффективно в некоторых сценариях применения. Эту проблему можно решить с помощью методов относительной навигации. В отличие от абсолютной навигации, которая оценивает положение БПЛА относительно Земли, относительная навигация позволяет точно оценить положение БПЛА относительно друг друга. Несмотря на большое число публикаций по относительной навигации, обзоры методов относительной навигации, систематизирующие существующие исследования, практически не встречаются. Кроме того, в различных статьях об относительной навигации используется широкий спектр терминов для схожих понятий, что осложняет изучение темы. Поэтому в данной статье подробно рассматриваются и систематизируются методы относительной навигации и анализируются их возможности и ограничения. На основании результатов обзора предлагается классификация методов относительной навигации, подходящих для групп БПЛА, и представляются результаты их сравнительного анализа. В статье рассмотрены дифференциальные ГНСС, радиочастотные и визуальные методы относительной навигации, а также их комбинации. Для каждого типа метода оцениваются достижимая точность и дальность действия в соответствии с соответствующими исследованиями. Также представляются ограничения и недостатки каждого метода. В результате сформулированы основные возможности относительной навигации и оценено ее текущее состояние.

Multi-agent Unmanned Aerial Vehicle (UAV) systems require stable and high-precision navigation. The existing navigation solutions, such as global navigation satellite systems (GNSS) and inertial navigation systems, may perform inefficiently in some application scenarios. The relative navigation methods can help solve this problem. Relative navigation enables UAVs to precisely estimate their positions relative to each other, as opposed to absolute navigation, which calculates the UAVs’ position relative to the Earth. Despite the abundance of relative navigation articles, there are no systematic reviews of relative navigation methods. Additionally, various articles on relative navigation use a variety of terms for comparable concepts, which makes it more difficult to understand the subject. Therefore, this review comprehensively studies systematizes relative navigation methods, and analyzes their strengths and weaknesses. We categorize relative navigation methods appropriate for multi-UAV systems, compare them, and make conclusions based on our findings. The relative navigation methods discussed in this review include differential GNSS, radio-frequency-based, visual, and their combinations. We evaluate the achievable accuracy and range for each type of method according to related studies. We also describe the limitations and vulnerabilities of each method. As a result, we outline relative navigation’s primary capabilities and assess its condition now.

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The authors declare that there are no conflicts of interest present.