Journal of Radio Electronics. eISSN 1684-1719. 2026. ¹3
Full text in Russian (pdf)
DOI: https://doi.org/10.30898/1684-1719.2026.3.10
Integrated Processing of Navigation Information
A.B. Gladyshev, D.D. Dmitriev, V.N. Ratushnyak, I.V. Tyapkin, A.M. Mekaev, A.V. Zhgun
Siberian Federal University, 660041, Russia, Krasnoyarsk, Svobodny Ave., 79
The paper was received February 19, 2026.
Abstract. One of the key problems in organizing a group UAV flight is ensuring safe maneuvering, especially in a dense formation. The satellite navigation system that most UAVs are equipped with cannot provide sufficient accuracy in determining coordinates to carry out a safe group flight. This article examines the method of complex processing of navigation information as one of the options for organizing safe control of a group of UAVs in close formation. The essence of the method lies in the complex use of navigation information received not only from standard navigation systems, but also from an onboard local navigation system organized among the members of the UAV group. As an onboard local navigation system, it is proposed to use a system in which the method of symmetrical two-way bidirectional measurement is used to measure the distance between UAVs. To measure the azimuth and elevation of neighboring UAVs, the method of angular superresolution in a ring antenna array based on the MUSIC algorithm is used. The complex processing procedure includes filtering of input data by a cut-off threshold, weighted averaging of centered navigation parameters and optimal processing using the Kalman filter (combining data from all sources, smoothing them and forecasting gaps in the output of navigation information).
Key words: group application of UAVs, local navigation system, method of symmetrical two-way bidirectional distance measurement, MUSIC angular super-resolution method, Kalman filter.
Financing: The study was supported by a grant from the Russian Science Foundation No. 25-19-20070, https://rscf.ru/project/25-19-20070/, and a grant from the Krasnoyarsk Regional Science Foundation.
Corresponding author: Mekaev Artem Mikhailovich, mekaev_artem@mail.ru
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For citation:
Gladyshev A.B., Dmitriev D.D., Ratushnyak V.N., Tyapkin I.V., Mekaev A.M., Zhgun A.V. Complex processing of navigation information to ensure group use of UAVs // Journal of Radio Electronics. – 2026. – ¹. 3. https://doi.org/10.30898/1684-1719.2026.3.10 (In Russian)