| Citation: | OUYANG X F，ZENG F L，LYU D，et al. Positioning accuracy and localization algorithm with relative measurement errors in blast-off platforms[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（1）：187-197 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0240
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In response to the high-precision relative positioning requirements for precise collaborative operations involving distributed blast-off platforms, this research proposes a relative ranging and positioning model based on ultra wide band (UWB) sensors. It analyzes the error factors and noise components of UWB modules under non-ideal conditions with antenna phase center errors, ranging refresh rates, and hover stability. To improve the overall performance of ranging and positioning, the noise component in UWB measurements is identified and analyzed by Allan variance, and the colored noise model along with estimated parameters are integrated into the measurement update of the positioning algorithm. The relative positioning of distributed blast-off platforms is then obtained through improving the expanded Kalman filter. Simulation experiments show that when the UWB measurement noise follows a non-Gaussian distribution, the position estimation accuracy of the proposed algorithm is 23.43% higher than that of the traditional EKF algorithm. Compared to traditional algorithms, the proposed algorithm reduces the influence of measurement color noise, thereby increasing relative positioning accuracy in satellite navigation-denied environments.
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