Distributed Information Filtering-Based Cooperative Localization Method for Cluster Missiles
LI Shoupeng1， TAO Zhenji2， ZHANG Xiaoyu3， XU Shihui3， JIN Xiaoqin3
1. College of Electronic Information and Optical Engineering， Nankai University， Tianjin 300350， China；
2. Shanghai Electro-Mechanical Engineering Institute， Shanghai 201109， China； 3. College of
Artificial Intelligence， Nankai University， Tianjin 300350， China
Abstract：To resolve the slave missile localization in master-slave cluster missiles, and considering the dynamic cut-in and cut-out navigation network of master missiles, a distributed cooperative navigation method using the inertial navigation system (INS) and the time-of-arrival (TOA) ranging system was proposed in this study. The method comprehensively considered the navigation parameters and related sensor error models and built an INS-error-system-based linear state space model. A nonlinear pseudo-ranging measurement model was produced based on the inter-missile data link and adopted an extended information filter to acquire the distributed fusion of dynamic information. For the dynamic change of the measurement information nodes, the method adapted to the variations in the cooperative navigation network structure. The results show that the simulation in the cooperative navigation system can accurately estimate the navigation parameters of slave missiles and effectively eliminate the burden induced by the change of information nodes, thus can be considered as a supplementary means of a low-cost slave missile navigation system.
