检索结果-南通市图书馆

cooperative localization for next-generation converged networks with closed-form solution

在线全文

学校读者我要写书评

暂无评论

The Journal of China Universities of Posts and Telecommunications 2009年第5期16卷 56-61页

作者： ZHANG Yi-heng CUI Qi-mei ZHANG Ping TAO Xiao-feng Key Laboratory of Universal Wireless Communications Ministry of Education Beijing University of Posts and Telecommunications Beijing 100876 China Wireless Technology Innovation Institute Beijing University of Posts and Telecommunications Beijing 100876 China Research Institute of Highway (RIOH) Transport Consulats Ltd Beijing 100088 China

In this article, a novel cooperative wireless localization scheme based on information fusion is proposed. The scheme combines large-scale arrival time and small-scale distance measurements obtained from the next-generation converged networks. The maximum likelihood （ML） estimate of the terminal＇s position is derived with closed-form solution, and the Cramer-Rao lower bound （CRLB） of the estimate error is investigated. Both theoretical analysis and simulation results verify that the proposed localization scheme can significantly enhance the location precision. Moreover, the mean square error of position estimate approximates the CRLB when the number of reference stations increases, which indicates that the proposed ML estimator is asymptotically efficient.

关键词： cooperative localization time of arrival (TOA) next-generation converged network large scale small scale

cooperative localization method for multi-robot based on PF-EKF

在线全文

学校读者我要写书评

暂无评论

Science in China(Series F) 2008年第8期51卷 1125-1137页

作者： WANG Ling WAN JianWei LIU YunHui SHAO JinXin School of Electronic Science and Engineering National University of Defense Technology Changsha410073 China

A method of cooperative localization for multi-robot in an unknown environment is described. They share information and perform localization by using relative observations and necessary communication. At initial time, robots do not know their positions. Once the robot that can obtain the absolute position information has its position, other robots use particle filter to fuse relative observations and maintain a set of samples respectively representing their positions. When the particles are close to s Gsussian distribution after a number of steps, we switch to an EKF to track the pose of the robots. Simulation results and real experiment show that PF-EKF method combines the robustness of PF and the efficiency of EKF. Robots can share the absolute position information and effectively localize themselves in an unknown environment.

关键词： cooperative localization relative observation particle filter EKF

cooperative localization and Tracking in Distributed Robot-Sensor Networks

在线全文

学校读者我要写书评

暂无评论

Tsinghua Science and Technology 2005年第1期10卷 91-101页

作者：张帆 Guilherme S.Pereira Vijay Kumar General Robotics Automation Sensing and Perception Laboratory University of Pennsylvania Philadelphia PA USA

This paper addresses the problem of real-time position and orientation estimation of networked mobile robots in two-dimensional Euclidean space with simultaneous tracking of a rigid unknown object based on exteroceptive sensory information extracted from distributed vision systems. The sufficient and necessary conditions for team localization are proposed. A localization and object tracking approach based on statistical operators and graph searching algorithms is presented for a team of robots localized with het- erogeneous sensors. The approach was implemented in an experimental platform consisting of car-like mobile robots equipped with omnidirectional video cameras and IEEE 802.11b wireless networking. The experimental results validate the approach.

关键词： cooperative localization multi-robot formation distributed sensor network sensor data fusion

Multi-Robot cooperative localization:Time-Varying Unobservable Subspace Analysis and Consistent Algorithm Design

在线全文

学校读者我要写书评

暂无评论

Journal of Systems Science & Complexity 2024年第5期37卷 1937-1955页

作者： HAO Ning HE Fenghua YAO Yu School of Astronautics Harbin Institute of TechnologyHarbin 150000China

This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative *** authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization ***,the authors introduce the relative measurement graph(RMG)to represent the relative pose measurements obtained by the MRS at each ***,the authors derive the local observability matrix over a time *** equivalent relationship is established between the local observability matrix and the spectral matrices of the ***,the authors present a method for constructing the unobservable subspace based on the RMG under different topology *** on this analysis,the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable *** analytical optimal solution is derived for the constrained optimization *** Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.

关键词： Consistency cooperative localization multi-robot system null space relative measurement graph time-varying unobservable subspace

Current-Aided Multiple-AUV cooperative localization and Target Tracking in Anchor-Free Environments

在线全文

学校读者我要写书评

暂无评论

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 792-806页

作者： Yichen Li Wenbin Yu Xinping Guan Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai Jiao Tong UniversityShanghai 200240China IEEE

In anchor-free environments,where no devices with known positions are available,the error growth of autonomous underwater vehicle(AUV)localization and target tracking is unbounded due to the lack of references and the accumulated errors in inertial *** paper aims to improve the localization and tracking accuracy by involving current information as extra *** first integrate current measurements and maps with belief propagation and design a distributed current-aided message-passing scheme that theoretically solves the localization and tracking *** on this scheme,we propose particle-based cooperative localization and target tracking algorithms,named CaCL and CaTT,*** AUV localization,CaCL uses the current measurements to correct the predicted and transmitted position information and alleviates the impact of the accumulated errors in inertial *** target tracking,the current maps are applied in CaTT to modify the position prediction of the target which is calculated through historical *** effectiveness and robustness of the proposed methods are validated through various simulations by comparisons with alternative methods under different trajectories and current conditions.

关键词： Anchor-free belief propagation cooperative localization current-aided target tracking

Distributed cooperative localization based on Gaussian message passing on factor graph in wireless networks

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2015年第4期58卷 78-92页

作者： WU Nan LI Bin WANG Hua XING ChengWen KUANG JingMing School of Information and Electronics Beijing Institute of Technology

In conventional localization, agents may not be able to reach sufficient number of anchors to obtain unambiguous locations, especially in sparse networks. cooperative localization is a promising solution in that harsh environment, which enables the agents to cooperate with each other by exchanging location information and performing range measurements. In this paper, a distributed cooperative localization method based on factor graph is proposed in wireless networks. Gaussian parametric messages are used to represent the messages passed on factor graph. However, because of the nonlinear observation model, no closed-form solutions can be obtained. To solve this problem, the Taylor expansion is used to approximate the nonlinear terms in message updating, which leads to the Gaussian message passing on factor graph. Accordingly, only two parameters of the Gaussian distribution have to be transmitted and the communication overhead for localization can be significantly reduced. The two proposed algorithms for the application with accurate and inaccurate anchors,respectively, are evaluated by Monte Carlo simulations and compared with the SPAWN and maximum likelihood(ML) estimator. The results show that the proposed algorithms can perform very close to SPAWN with much lower computational complexity, and it outperforms the ML estimator significantly.

关键词： wireless networks cooperative localization factor graph Gaussian message passing

An Area Optimization Based cooperative localization Algorithm with Node Selection

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

China Communications 2021年第12期18卷 178-195页

作者： Ke Han Chongyu Zhang Huashuai Xing Yunfei Xu School of Electronic Engineering Beijing University of Posts and TelecommunicationsBeijing 100876China State Key Laboratory of Information Photonics and Optical Communications(Beijing University of Posts and Telecommunications) Beijing 100876China

In recent years,position information has become a key feature to drive location and context aware services in mobile *** from all over the world have proposed many solu-tions for indoor positioning over the past several ***,due to weak signals,multipath or non-line-of-sight signal propagation,accurately and efficiently localizing targets in harsh indoor environments re-mains a challenging *** improve the perfor-mance in harsh environment with insufficient anchors,cooperative localization has *** this paper,a novel cooperative localization algorithm,named area optimization and node selection based sum-product al-gorithm over a wireless network(AN-SPAWN),is de-scribed and *** alleviate the high compu-tational complexity and build optimized cooperative cluster,a node selection method is designed for the cooperative localization *** experi-ment results indicate that our proposed algorithm has a higher accuracy and is less impacted by NLOS errors than other conventional cooperative localization algo-rithms in the harsh indoor environments.

关键词： cooperative localization node selection PDR indoor localization

A Multi-Vehicle cooperative localization Method Based on Belief Propagation in Satellite Denied Environment

在线全文

学校读者我要写书评

暂无评论

Journal of Beijing Institute of Technology 2022年第5期31卷 464-472页

作者： Jiaqi Wang Lina Wang School of Computer and Communication Engineering University of Science and Technology BeijingBeijing 100083China

The global navigation satellite system(GNSS)is currently being used extensively in the navigation system of ***,the GNSS signal will be faded or blocked in complex road environments,which will lead to a decrease in positioning *** to the higher-precision synchronization provided in the sixth generation(6G)network,the errors of ranging-based positioning technologies can be effectively *** the same time,the use of terahertz in 6G allows excellent resolution of range and angle,which offers unique opportunities for multi-vehicle cooperative localization in a GNSS denied *** paper introduces a multi-vehicle cooperative localization *** the proposed method,the location estimations of vehicles are derived by utilizing inertial measurement and then corrected by exchanging the beliefs with adjacent vehicles and roadside *** multi-vehicle cooperative localization problem is represented using a factor *** iterative algorithm based on belief propagation is applied to perform the inference over the factor *** results demonstrate that our proposed method can offer a considerable capability enhancement on localization accuracy.

关键词： cooperative localization belief propagation factor graph inertial navigation system internet of vehicles

Compensation Algorithm Based on Estimation State for Transmission Delay in cooperative localization

在线全文

学校读者我要写书评

暂无评论

Transactions of Nanjing University of Aeronautics and Astronautics 2014年第1期31卷 91-98页

作者：王雷钢张涛杨伟锋 Department of Automation Tsinghua University Luoyang Electronic Equipment Test Center of China

In order to maximize the utilization of the observation information in the cooperative localization,a compensation algorithm based on the estimation state is presented for transmission *** the framework of the Kalman filter,two different processes of state estimating with and without transmission delay are investigated and *** expression of difference quantity caused by transmission delay is *** is used to compensate the present estimation state instead of the observed information *** to the characteristics of state transition matrix,an equivalent expression of which successively impacts on the covariance factor in delay time is *** simulation results show that the present estimated state is effectively corrected by transmission information and the relevance among agents is accurately *** a result,a higher positioning accuracy is ***,the consumption of recording and multiplication of the state transition matrix is saved.

关键词： cooperative localization Kalman filter transmission delay covariance factor