Research on Optimization Method for Configuration Connection of Multi UAV Cluster Collaborative Navigation

In recent years, multi-UAV collaborative cluster technology has attracted more and more attention from domestic and foreign researchers, and multi-UAV collaborative navigation is a crucial part of cluster collaborative technology. In many complex environments, GNSS signal rejection may occur, making it difficult for UAVs to achieve precise positioning and navigation solely relying on inertial navigation. In this case, multi-UAV collaboration can effectively suppress the divergence of UAV inertial navigation errors. However, considering factors such as communication range and capacity, electromagnetic interference, and sudden faults, sometimes the collaborative connection of UAVs is constrained. This article analyzes the collaborative connection strategies of UAV clusters under the premise of limited collaborative connections, proposes three collaborative connection strategies, namely RS, RL, RH, and proposes a “RLH” collaborative connection optimization method that alternates the use of “RL” and “RH” strategies, which improves and stabilizes the optimized collaborative navigation and positioning performance.