Citation: Ye, L.; Yang, Y.; Ma, J.;
Deng, L.; Li, H. Research on an LEO
Constellation Multi-Aircraft
Collaborative Navigation Algorithm
Based on a Dual-Way Asynchronous
Precision Communication-Time
Service Measurement System
(DWAPC-TSM). Sensors 2022, 22,
3213. https://doi.org/10.3390/
s22093213
Academic Editor: Andrzej Stateczny
Received: 8 March 2022
Accepted: 20 April 2022
Published: 22 April 2022
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Article
Research on an LEO Constellation Multi-Aircraft Collaborative
Navigation Algorithm Based on a Dual-Way Asynchronous
Precision Communication-Time Service Measurement System
(DWAPC-TSM)
Lvyang Ye
1
, Yikang Yang
1,
*, Jiangang Ma
1
, Lingyu Deng
1
and Hengnian Li
2
1
School of Electronic and Information Engineering, Xi’an Jiaotong University, Xi’an 710049, China;
yely2019@stu.xjtu.edu.cn (L.Y.); jiangangma@stu.xjtu.edu.cn (J.M.); dengly0625@stu.xjtu.edu.cn (L.D.)
2
State Key Laboratory of Astronautic Dynamics, General Armament Department, Xi’an Satellite Control
Center, Xi’an 710043, China; henry_xscc@mail.xjtu.edu.cn
* Correspondence: yangyk74@mail.xjtu.edu.cn
Abstract: In order to solve the collaborative navigation problems in challenging environments such
as insufficient visible satellites, obstacle reflections and multipath errors, and in order to improve
the accuracy, usability, and stability of collaborative navigation and positioning, we propose a
dual-way asynchronous precision communication–timing–measurement system (DWAPC-TSM)
LEO constellation multi-aircraft cooperative navigation and positioning algorithm which gives the
principle, algorithm structure, and error analysis of the DWAPC-TSM system. In addition, we also
analyze the effect of vehicle separation range on satellite observability. The DWAPC-TSM system can
achieve high-precision ranging and time synchronization accuracy. With the help of this system, by
adding relative ranging and speed measurement observations in an unscented Kalman filter (UKF),
the multi-aircraft coordinated navigation and positioning of aircraft is finally realized. The simulation
results show that, even without the aid of an altimeter, the multi-aircraft cooperative navigation and
positioning algorithm based on the DWAPC-TSM system can achieve good navigation and positioning
results, and with the aid of the altimeter, the cooperative navigation and positioning accuracy can
be effectively improved. For the formation flight configurations of horizontal collinear and vertical
collinear, the algorithm is universal, and in the case of vertical collinear, the navigation performance
of the formation members tends to be consistent. Under different relative measurement accuracy, the
algorithm can maintain good robustness; compared with some existing classical algorithms, it can
significantly improve the navigation and positioning accuracy. A reference scheme for exploring the
feasibility of a new cooperative navigation and positioning mode for LEO communication satellites
is presented.
Keywords:
cooperative positioning; multi-aircraft; time synchronization; ranging; velocity
measurement;
LEO
1. Introduction
At present, unmanned equipment has been widely used and the focus of attention in
military and civilian applications. In addition to civilian unmanned transportation, disaster
relief, and risk elimination, it also plays an important role in modern warfare. In particular,
unmanned equipment was used in the war between Azerbaijan and Armenia, and has
become an indispensable part of the military equipment of major countries around the
world. However, with the rapid development of modern military equipment, the execution
efficiency of individual manned/unmanned equipment (unmanned combat vehicles, un-
manned aerial vehicles, unmanned boats, etc.) is often limited, and complex combat tasks
cannot be completed properly. Cooperative positioning (CP) is a method for enhancing
Sensors 2022, 22, 3213. https://doi.org/10.3390/s22093213 https://www.mdpi.com/journal/sensors
