A Distributed Cooperative Localization Algorithm for Mobile Multi-platforms Oriented to Unpredicted Communication Topology

作     者：WANG Leigang CUI Jianling KONG Depei ZHAO Linfeng 

作者机构：Luo Yang Electronic Equipment Test Center of China 

出 版 物：《Transactions of Nanjing University of Aeronautics and Astronautics》 (南京航空航天大学学报（英文版）)

年 卷 期：2019年第36卷第2期

页      面：224-231页

核心收录：

学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造] 

主　　题：mobile multi-platforms cooperative localization unscented Kalman filtering communication topology 

摘      要：The cooperative localization(CL)is affected by the communication topology among the *** on the unscented Kalman filtering,the distributed CL(DCL)oriented to the unpredicted communication topology is *** improve the adaptability,the character of the look-up Cholesky decomposition is exploited for the covariance matrix ***,the distributed U transformation can be dynamically implemented according to the available communication *** the proposed algorithm,the global information is not required for the individual,and only the available information from the neighbor is *** platform’s state can be estimated *** error covariance of the state estimates can be updated in the single *** algorithm is adaptive to any serial communication topologies where the measuring to the measured platform is a starting *** applicability of the proposed algorithm to unpredicted communication topology is improved,remaining equivalent localization performance to free connection communication.