Pseudorange Differential GPS-Based Relative Navigation for UAV Formation Flight

In pseudorange differential GPS-based relative navigation, two linear models for UAV formation flight are designed, respectively, to simplify system equipment, reduce complexity of algorithm, and most of all weaken the effect of spatial-correlated errors such as satellite ephemeris error, ionosphere delay and troposphere delay. Above errors are analyzed and simulated to verify the feasibility of the method. Moreover, positioning deviation of lead plane is also under consideration in the system without base-station, demonstrating the effect of leader's deviation on position accuracy for the system. Both theoretical and practical results for the two models conclude that the system without base-station can reach a better precision and is more cost effective.