Research on Cooperative Navigation of UAVs based on Multi-sensor Fusion

With the rapid development of unmanned system technology, multi-sensor fusion and multi-machine collaborative navigation have become hot research directions for improving the performance of UAV systems. In order to explore the current research status of the intersection of multi-sensor fusion and multi-machine collaboration and intuitively compare the latest methods in this direction, this paper summarizes and analyzes the three key technologies in this field: multi-sensor tight coupling in dynamic environments, multi-UAV collaborative navigation optimization, and lightweight map sharing, based on the relevant research in the past five years. First, the basic theory and technical architecture of multi-sensor fusion and multi-machine collaborative navigation are introduced, then the coupling relationship between the two is discussed, and then the key technologies in this field are discussed. Finally, the future development directions of sensor fusion, collaborative navigation and coupling research are prospected.