Cooperative navigation method for UAV swarm based on AHRS

In order to effectively solve the problem of low-cost navigation and localization of UAV swarm under the satellite partial denial environment, a cooperative navigation method for UAV swarm based on the attitude heading reference system (AHRS) is proposed. Firstly, the design of the 3D position estimation model is completed using the AHRS as the basis. Secondly, the cooperative dilution of precision (CDOP) is used to finish the optimal node selection in a distributed cooperative navigation filter based on inter-aircraft range, which lessens the navigation system's computational load. Algorithms for fault identification and isolation are then used to diagnose the disrupted cooperative measurement data and reconfigure the system. Finally, the solution of the absolute position is accomplished using the distributed cooperative navigation algorithm. Simulation and experiments demonstrate that this algorithm effectively resolves problems such as excessive reliance on satellite navigation and slow processing of large-scale navigation data. Compared with traditional multi-source fusion algorithms, this approach significantly reduces hardware costs while meeting high-precision positioning requirements for a large-scale UAV swarm at a lower cost.