Research on Cooperative Navigation Algorithm for UAV Cluster Based on Belief Propagation

In the modern adversarial environment of high dynamics, uncertainty, high threat, and multitasking, effective collaborative navigation between unmanned aerial vehicle clusters is the prerequisite and foundation of cluster intelligent navigation. This article is based on a distributed navigation architecture and proposes a belief propagation-based collaborative navigation algorithm for unmanned aerial vehicles in satellite rejection environments. Based on the probability graph model, establish a measurement model for the signal between drones. Transform the problem of unmanned aerial vehicle collaborative navigation into a factor graph model, and then use a belief propagation algorithm to fuse collaborative information to achieve unmanned aerial vehicle navigation function in a rejection environment. The simulation results show that this method can effectively solve the navigation and positioning problem of unmanned aerial vehicles in the rejection environment of the cluster, laying a foundation for improving the collaborative navigation performance of unmanned clusters in the future.