Cooperative Navigation for Heterogeneous Air-Ground Vehicles Based on Interoperation Strategy.

This paper focuses on the cooperative navigation of heterogeneous air-ground vehicle formations in a Global Navigation Satellite System (GNSS) challenged environment and proposes a cooperative navigation method based on motion estimation and a regionally optimal path planning strategy. In air-ground vehicle formations, unmanned ground vehicles (UGVs) are equipped with low-precision inertial navigation measurement units and wireless range sensors, which interact with unmanned aerial vehicles (UAVs) equipped with high-precision navigation equipment for cooperative measurement information and use the UAVs as aerial benchmarks for cooperative navigation. Firstly, the Interacting Multiple Model (IMM) algorithm is used to predict the next moment's motion position of the UGVs. Then regional real-time path optimization algorithms are introduced to design the motion position of the high-precision UAVs so as to improve the formation's configuration and reduce the geometric dilution of precision (GDOP) of the configuration. Simulation results show that the Dynamic Optimal Configuration Cooperative Navigation (DOC-CN) algorithm can reduce the GDOP of heterogeneous air-ground vehicle formations and effectively improve the overall navigation accuracy of the whole formation. The method is suitable for the cooperative navigation environment of heterogeneous air-ground vehicle formations under GNSS-challenged conditions.