METHOD OF DETERMINING COORDINATES OF GROUP OF AIRCRAFT DURING INTER-FLIGHT NAVIGATION Russian patent published in 2020 - IPC G01C23/00 G01C21/00 G01S13/933 

FIELD: aviation.

SUBSTANCE: invention relates to the field of aircraft navigation (AC). When moving an aircraft group along a given trajectory at each estimation step, determining navigation parameters by forming an observation vector and correcting the counted navigation parameters by recurrent processing. At each estimation step in each aircraft, vectors of own observations of coordinates and velocities are formed, wherein the vector of own observations of coordinates consists of measured proper Cartesian coordinates and a set of observations of mutual coordinates, defined as the difference of proper coordinates and data obtained by means of inter-flight navigation on coordinates of other devices in range of visibility of aircraft instruments in a group. Vector of own velocity observations consists of measured intrinsic velocities and a set of observations at mutual velocities defined as the difference of own velocities and data obtained by means of inter-flight navigation on the speeds of other devices in range of visibility of aircraft in the group, then vectors of own observations of coordinates and velocities, as well as errors of such observations are transmitted via communication channels to all AC in group, after which on each aircraft are formed vectors of observations of coordinates and speeds of group of aircraft, which include vectors of observations of coordinates and speeds of all aircraft in group, and covariance error observation matrices, then, at each estimation step based on predetermined matrices of optimal coefficients, calculating optimal in the plan minimum of errors of independent from previous states static estimates of navigation parameters and covariance error matrices of static estimation, after that, at each estimation step in each aircraft, selection of navigation parameters of the group of own coordinates and speeds and their subsequent processing to form parameter estimation errors, calculating covariance extrapolation error matrices and errors of estimating navigation parameters of one aircraft. Obtained navigation parameters estimation errors are used to generate control signals on each aircraft to correct aircraft motion trajectory.

EFFECT: technical result consists in improvement of accuracy of navigation of aircraft operating in a group.

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