DocumentCode
3113382
Title
Cooperative location model under the Nearest Neighbor criterion
Author
Xiao, Yi ; You, He ; Xin, Guan
Author_Institution
Res. Inst. of Inf. Fusion, Naval Aeronaut. Eng. Inst., Yantai, China
fYear
2004
fDate
26-29 April 2004
Firstpage
658
Lastpage
661
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. 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.
Keywords
navigation; position measurement; sensor fusion; Nearest Neighbor criterion; cooperative location model; decentralized data fusion; error covariance matrix; formation control techniques; mobile robots; multiple platform; planar circumstance; relative localization; unmanned aerial vehicles; Covariance matrix; Helium; Kinematics; Mobile robots; Navigation; Nearest neighbor searches; State estimation; Target tracking; Time division multiple access; Unmanned aerial vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Position Location and Navigation Symposium, 2004. PLANS 2004
Print_ISBN
0-7803-8416-4
Type
conf
DOI
10.1109/PLANS.2004.1309056
Filename
1309056
Link To Document