Acta Photonica Sinica, Volume. 53, Issue 11, 1112003(2024)

Research on Omnidirectional Laser Grid Relative Navigation Technology

Jun MA1... Wanqing DING1, Chengming LI1,*, Hu WANG2 and Long CHEN1 |Show fewer author(s)
Author Affiliations
  • 1School of Defence Science and Technology,Xi'an Technological University,Xi'an 710021,China
  • 2Xi'an Institute of Optics and Precision Mechanics,Chinese Academy of Sciences,Xi'an 710019,China
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    Figures & Tables(18)
    Omnidirectional laser grid relative navigation technology diagram
    Laser grid diagram
    Omnidirectional laser grid relative angle measurement diagram
    UAV formation cooperative navigation diagram
    Traditional laser ranging diagram
    Omnidirectional laser grid relative navigation ranging diagram
    Schematic diagram of ranging process in two-node UAV formation
    Time solution process
    Schematic diagram of omnidirectional relative positioning system
    The flowchart of relative navigation process for two-node UAV
    system effective range model diagram
    Omnidirectional laser grid relative navigation test system
    Outdoor experimental scene
    Experimental results data for four positions
    Omnidirectional azimuth angle test results
    • Table 1. Analysis of ranging results

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      Table 1. Analysis of ranging results

      PositionStandard value/(°)Maximum values/mMinimum value/mMean value/mRMSE/mVarianceError/m
      130.0030.7529.2529.430.730.210.57
      2106.30107.25105.75105.980.580.230.33
      3300.70301.50300.00300.780.330.100.08
      41 015.601 016.501 015.001 015.760.420.150.16
    • Table 2. Analysis of azimuth results

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      Table 2. Analysis of azimuth results

      PositionStandard value/(°)Maximum values/(°)Minimum value/(°)Mean value/(°)RMSE/(°)VarianceError
      149.475 649.500 049.464 049.482 70.011 70.000 10.007 1
      261.879 661.938 061.884 061.909 40.032 00.000 20.029 8
      355.154 855.188 055.125 055.165 60.014 30.000 10.010 8
      4334.354 9334.377 0334.350 0334.363 40.010 70.000 10.008 5
    • Table 3. Analysis of elevation angle results

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      Table 3. Analysis of elevation angle results

      PositionStandard value/(°)Maximum values/(°)Minimum value/(°)Mean value/(°)RMSE/(°)VarianceError
      14.564 84.595 64.509 34.553 70.023 60.000 40.030 8
      20.439 80.499 70.369 40.429 80.030 10.000 80.010 0
      3-0.209 3-0.152 1-0.239 0-0.217 50.023 70.000 50.008 2
      4-0.089 7-0.043 5-0.130 4-0.088 40.018 50.000 40.001 3
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    Jun MA, Wanqing DING, Chengming LI, Hu WANG, Long CHEN. Research on Omnidirectional Laser Grid Relative Navigation Technology[J]. Acta Photonica Sinica, 2024, 53(11): 1112003

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    Paper Information

    Category: Instrumentation, Measurement and Metrology

    Received: Apr. 18, 2024

    Accepted: May. 27, 2024

    Published Online: Jan. 8, 2025

    The Author Email: LI Chengming (lichengming@st.xatu.edu.cn)

    DOI:10.3788/gzxb20245311.1112003

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