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This paper focuses on the inter-UAV state estimation method of swarmed UAVs with communication constraints, which mainly analyzes the incomplete state information and data missing between UAVs. Firstly, the motion state estimation method of UAVs based on extended Kalman filter (EKF) is established for the incomplete state information of UAVs with communication constraints. Secondly, aiming at the data missing between UAVs with limited communication, the state prediction method of UAVs is studied. Finally, the validity of the proposed method was verified by digital simulation experiments and real flight experiments.

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Inter-UAV State Estimation of Swarmed UAVs with Communication Constraints

  • 会议论文

  • 发表日期：

    2025年

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  • Li Hao,
  • Dongliang Song,
  • Yukun Yang,
  • Ling Zuo,
  • Zhiyu Li,
  • Shichao Ma,
  • Jiayun Wen,
  • Lin Hou,
  • Qiang Tang

摘要

This paper focuses on the inter-UAV state estimation method of swarmed UAVs with communication constraints, which mainly analyzes the incomplete state information and data missing between UAVs. Firstly, the motion state estimation method of UAVs based on extended Kalman filter (EKF) is established for the incomplete state information of UAVs with communication constraints. Secondly, aiming at the data missing between UAVs with limited communication, the state prediction method of UAVs is studied. Finally, the validity of the proposed method was verified by digital simulation experiments and real flight experiments.