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Cross-Path Planning of UAV Cluster Low-Altitude Flight Based on Inertial Navigation Combined with GPS Localization

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Publicado en:Electronics vol. 14, no. 14 (2025), p. 2877-2891
Autor principal: Yang Xiancheng
Otros Autores: Zhang, Ming, Peihui, Yan, Qu, Wang, Xie Dongpeng, Bai, Yuntian Brian
Publicado:
MDPI AG
Materias:
Lower bounds
Environment models
Deep learning
Collaboration
Cramer-Rao bounds
Flight characteristics
Optimization
Altitude
Aviation
Unmanned aerial vehicles
Flight
Inertial coordinates
Efficiency
Inertial navigation
Vehicles
Aircraft
Machine learning
Low altitude
Satellite navigation systems
Planning
Effectiveness
Methods
Drones
Algorithms
Global positioning systems > GPS
Path planning
Cartesian coordinates
Acceso en línea:Citation/Abstract
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Resumen:To address the challenges of complex low-altitude flight environments for UAVs, where numerous obstacles often lead to GPS signal obstruction and multipath effects, this study proposes an integrated inertial navigation and GPS positioning approach for coordinated cross-path planning in drone swarms. The methodology involves the following: (1) discretizing continuous 3D airspace into grid cells using occupancy grid mapping to construct an environmental model; (2) analyzing dynamic flight characteristics through attitude angle variations in a 3D Cartesian coordinate system; and (3) implementing collaborative state updates and global positioning through fused inertial–GPS navigation. By incorporating Cramér–Rao lower bound optimization, the system achieves effective cross-path planning for drone formations. Experimental results demonstrate a 98.35% mission success rate with inter-drone navigation time differences maintained below 0.5 s, confirming the method’s effectiveness in enabling synchronized swarm operations while maintaining safe distances during cooperative monitoring and low-altitude flight missions. This approach demonstrates significant advantages in coordinated cross-path planning for UAV clusters.
ISSN:2079-9292
DOI:10.3390/electronics14142877
Fuente:Advanced Technologies & Aerospace Database