A tethered unmanned optoelectronic locating method independent of inertial heading

It is a challenging problem that the heading-effect drift of inertial devices is inevitable, which may significantly affect the positioning accuracy of unmanned optoelectronic systems. Consequently, this research introduced a tethered unmanned system using two sets of real time kinematic differential GPS and a locating method for obtaining direction through benchmark transmission. Specifically, the method considered the position and coordinate system relationships between aerial and ground transmission. The acquisition of benchmark is transformed into a simple mathematical relation, that is, the problem of solving a group of non-homogeneous system of linear equations. The simulation analysis preliminarily validated the method and analyzed the error influencing factors. Furthermore, static and dynamic experiments test demonstrated the correctness and effectiveness of the method.