Abstract:

For establishing the relative position among multiaircrafts operating in autonomous collaboration, the efficient cooperation relative position algorithm is proposed. In order to solve the underredundant of relative measurement in the relative position among three aircrafts, multiple hypothesis least squared algorithm is presented. Firstly, the multiple hypothesis models are established based on the distribution function of the error in inertial navigation system (INS). Then the least square estimation results of the relative position among aircrafts can be obtained under each hypothesis model. Finally, the dynamic relative position can be acquired by the weighting. In additional, a kind of linear fusion algorithm is introduced to improve the accuracy and stability of estimation results by the optimal linear estimating model. 〖JP2〗Simulation results show the stabilization and precision of this algorithm in the relative position among three aircrafts underredundant of relative measurement.