As a new navigation mode of drone swarm, collaborative navigation can make full use of the message interconnection between platforms and fuse all the measurement information for an optimal estimation of the whole system. Aiming at the problem of low estimation accuracy of distributed cooperative navigation algorithm, a three-stage cooperative navigation method is proposed in this paper. Firstly, the absolute navigation output information is used as the initial value of cooperative navigation, then the relative navigation output information is used as the measurement information of cooperative navigation and a cooperative navigation filter is constructed. Finally, the results calculated by each platform are recursively fed back to the absolute navigation of each platform until the global optimal estimation of navigation information is obtained. The simulation results show that the cooperative navigation method based on message interconnection proposed in this paper can effectively estimate the navigation information of each platform. Compared with the traditional navigation and positioning system and cooperative navigation scheme, it has higher anti-interference and stability, and can adapt to different complex environments.

collaborative navigation  /  message interconnection  /  collaborative filter  /  optimal estimation