Cooperative Navigation for UAV Swarm Based on Gaussian Particle Belief Propagation

Cooperative navigation realized through information interaction among UAVs can improve the navigation performance of UAVs in complex environments. In this paper, we construct a distributed cooperative navigation framework that fuses measurements from various onboard navigation sensors and inter-UAV ranging. Considering the computational efficiency, we propose a Gaussian particle filter for message passing and computation, which reduces the computational load. Flight test results show that the algorithm can significantly improve the computational efficiency with the same positioning accuracy compared to the traditional BP algorithm.