基于最近邻的协同定位模型研究

协同定位是多平台编队中的关键问题之一,是实现无人机、舰艇编队等定位控制的基础.从信息融合的角度研究了编队协同中的导航定位问题,提出了一种新的协同定位算法.推导了二维情况下,基于最近邻准则确定伪测量和相伴误差协方差矩阵的模型.仿真分析表明,该算法可以稳定地完成己平台运动要素的估计.

Research on the Cooperative Localization Model under Nearest Neighbor Criterion

The problem of navigation has received considerable attention and has a wide variety of potential applications. A number of algorithms have been proposed which have been successfully employed in mobile robots, and unmanned aerial vehicles, etc. However, most algorithms are designed for a single platform. This paper presents current work on decentralized data fusion applied to the relative localization among multiple platforms. A novel nearest neighbor-based scheme is proposed to estimate the navigational states own from the range measurement to other platform. The model to calculate the pseudomeasurement and the concomitant error covariance matrix is deduced for the planar circumstance. The simulation results show that the new algorithm can steady navigational states estimate. Thus, at the mission level, multiple platform can move together sharing information with one another in order to produce more accurate and coherent estimates, and increase the chances to success.