DocumentCode :
2881813
Title :
Active and passive combined cooperative localization model
Author :
Yi, Xiao ; Guan, Xin ; He, You
Author_Institution :
Res. Inst. of Inf. Fusion, Naval Aeronaut. Eng. Inst., China
Volume :
2
fYear :
2005
fDate :
12-14 Oct. 2005
Firstpage :
1330
Lastpage :
1332
Abstract :
This paper presents current work on decentralized data fusion applied to the relative localization among multiple platform, which is one of the key formation control techniques for mobile robots or unmanned aerial vehicles. The cooperative localization is one of the key problems for the multiple platform formation. When using geometrical method, at least three pieces of PPLIs is needed, moreover a series of complex problems such as time quality (TQ) and position quality (PQ) must be considered. This paper presents current work on decentralized data fusion applied to the relative localization among multiple platform. A novel active and passive combined scheme is proposed. The model to calculate the pseudomeasurement and the concomitant error covariance matrix is deduced for the planar circumstance.
Keywords :
covariance matrices; mobile robots; multivariable systems; remotely operated vehicles; sensor fusion; space vehicles; PPLI; active combined scheme; concomitant error covariance matrix; cooperative localization model; decentralized data fusion; geometrical method; mobile robots; multiple platform; passive combined scheme; planar circumstance; position quality; pseudomeasurement; time quality; unmanned aerial vehicles; Aerospace engineering; Algorithm design and analysis; Covariance matrix; Electronic mail; Helium; Mobile robots; Navigation; State estimation; Time division multiple access; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Communications and Information Technology, 2005. ISCIT 2005. IEEE International Symposium on
Print_ISBN :
0-7803-9538-7
Type :
conf
DOI :
10.1109/ISCIT.2005.1567113
Filename :
1567113
Link To Document :
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