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Distributed Three-Dimensional Cooperative Localization Method Based on Data Link Ranging
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Deren MA1, Zhenhuan WANG1, Rongbing ZHANG2, Qifen LI2, Longtao KONG2
Journal of Telemetry, Tracking and Command | 2025, 46(2) : 12 - 19
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Journal of Telemetry, Tracking and Command | 2025, 46(2): 12-19
• TT & C Communication and Navigation •
Distributed Three-Dimensional Cooperative Localization Method Based on Data Link Ranging
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Deren MA1, Zhenhuan WANG1, Rongbing ZHANG2, Qifen LI2, Longtao KONG2
Affiliations
  • 1.Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China
  • 2.Beijing Research Institute of Telemetry, Beijing 100076, China
Published: 2025-03-15 doi: 10.12347/j.ycyk.20241230001
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Aiming at the absolute and relative location service needs of low-altitude flight drones in complex electromagnetic environments, a three-dimensional distributed drone cooperative localization method based on high-precision ranging information is proposed. All nodes in the cluster are equipped with navigation positioning sensors with the same accuracy, and use the inertial error as a state variable, the height value of the altimeter as a height measurement and 0.1 Hz visual matching information as position and speed measurements to correct the absolute positioning error of the nodes. Use the ranging values of the nodes as cooperative measurements to correct the relative positioning error, and use the extended Kalman filter to fuse the measuring range and inertial/altimeter/vision system output. Construct the flight test scene of the 6-node drone group to complete the simulation verification of low-altitude flight scenes. Verified, through the cooperative positioning algorithm, the absolute position accuracy is improved by 61%, and the relative positioning accuracy increases by 93%, which proves the effectiveness of the cooperative localization method.

Cooperative localization  /  Data link  /  Inertial navigation system  /  GNSS-denied area
Deren MA, Zhenhuan WANG, Rongbing ZHANG, Qifen LI, Longtao KONG. Distributed Three-Dimensional Cooperative Localization Method Based on Data Link Ranging[J]. Journal of Telemetry, Tracking and Command, 2025 , 46 (2) : 12 -19 . DOI: 10.12347/j.ycyk.20241230001
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Year 2025 volume 46 Issue 2
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Article Info
doi: 10.12347/j.ycyk.20241230001
  • Receive Date：2024-12-30
  • Online Date：2026-03-13
  • Published：2025-03-15
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History
  • Received：2024-12-30
  • Revised：2025-01-15
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Affiliations
    1.Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China
    2.Beijing Research Institute of Telemetry, Beijing 100076, China
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表12种不同金属材料的力学参数
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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