Estimation of Relative Attitude Information of Cooperative Nodes in UAV Cluster. Issue 1 (1st March 2023) - Wang, Jiyuan
Abstract: In the collaborative UAV swarm, every node could locate accurately by sharing the accurate navigation information from the leader, through the spatial geometric constraints structured by relative observation. However, the attitude of the followers which only carry cheap navigation sensors can not be optimized through this method. Low-precision attitude system has wide application prospects in military and civil fields such as robots, UUV and UAV, but the existing filtering methods cannot maintain high accuracy of attitude when the carrier move for a long time or maneuvers with high dynamics. This paper provides a method to obtain the relative attitude Euler Angle between the leader and the follower using the visual vector obtained by binocular camera and the target recognition algorithm. In this paper, the simulation and experiment of the proposed method are carried out. The experimental results show that under the good visual conditions, the relative attitude Euler Angle error obtained by identifying distinguishable targets is less than 2 degrees, which meets the demand of attitude determination for cooperative navigation.