Research on Cooperative Navigation Algorithm under INS/Ranging Condition

Aiming at the navigation problem in the global navigation satellite system (GNSS) denied environment, a cooperative navigation algorithm for multi-aircraft based on Unscented Kalman filter (UKF) is proposed by combining data link ranging with inertial navigation system (INS). In this way, the aircraft formation can adapt to the cooperative needs of multiple aircraft under the condition of losing satellite navigation. By introducing the adaptive node selection algorithm and using UKF to solve the nonlinear system, the estimation accuracy and robustness of measurement noise are improved compared with traditional formation navigation.