Fig. 1. Omnidirectional laser grid relative navigation technology diagram

Fig. 2. Laser grid diagram

Fig. 3. Omnidirectional laser grid relative angle measurement diagram

Fig. 4. UAV formation cooperative navigation diagram

Fig. 5. Traditional laser ranging diagram

Fig. 6. Omnidirectional laser grid relative navigation ranging diagram

Fig. 7. Schematic diagram of ranging process in two-node UAV formation

Fig. 8. Time solution process

Fig. 9. Schematic diagram of omnidirectional relative positioning system

Fig. 10. The flowchart of relative navigation process for two-node UAV

Fig. 11. system effective range model diagram

Fig. 12. Omnidirectional laser grid relative navigation test system

Fig. 13. Outdoor experimental scene

Fig. 14. Experimental results data for four positions

Fig. 15. Omnidirectional azimuth angle test results