Cooperative Navigation for Heterogeneous Air-Ground Vehicles Based on Interoperation Strategy

This paper focuses on the cooperative navigation of heterogeneous air-ground vehicle formations in a Global Navigation Satellite System (GNSS) challenged environment and proposes method based motion estimation regionally optimal path planning strategy. In formations, unmanned ground vehicles (UGVs) are equipped with low-precision inertial measurement units wireless range sensors, which interact aerial (UAVs) high-precision equipment for information use UAVs as benchmarks navigation. Firstly, Interacting Multiple Model (IMM) algorithm is used to predict next moment’s position UGVs. Then regional real-time optimization algorithms introduced design so improve formation’s configuration reduce geometric dilution precision (GDOP) configuration. Simulation results show that Dynamic Optimal Configuration Cooperative (DOC-CN) can GDOP effectively overall accuracy whole formation. The suitable under GNSS-challenged conditions.