Adaptive Selection Method for Time of Arrival in TDMA Cluster Collaborative Relative Positioning Based on JTIDS

Relative positioning is a crucial method for cluster positioning when absolute positioning information is unavailable. The joint tactical information distribution system (JTIDS) is an early system designed and implemented for cluster collaborative relative positioning technology. In JTIDS, cluster nodes broadcast positioning information within line-of-sight range based on the time division multiple access (TDMA) protocol, using time of arrival (TOA) to achieve relative positioning. However, existing research indicates that the improper use of TOAs in such cluster collaborative relative positioning can lead to cluster instability. To meet the performance requirements of dynamically changing scenes, nodes need to adaptively select the acquired TOAs based on environmental changes. This article, focusing on the JTIDS aircraft cluster, first analyzes the mechanism of different TOA selection methods on TDMA cluster collaborative relative positioning, explaining from the perspective of systematic error (SE) that cluster instability arises from rotational SE (RSE). Then, with the aim of reducing the impact of RSE, a simple and feasible adaptive TOA selection method is proposed. Simulation results demonstrate that compared to the TOA selection methods used in existing research, the adaptive TOA selection method proposed in this article can dynamically adjust to environmental changes, achieving stable and flexible TDMA cluster collaborative relative positioning.