Cooperative Navigation for Low-Cost UAV Swarm Based on Sigma Point Belief Propagation

被引:10
|
作者
Chen, Mingxing [1 ]
Xiong, Zhi [1 ]
Song, Fengyi [1 ]
Xiong, Jun [2 ]
Wang, Rong [1 ]
机构
[1] Nanjing Univ Aeronaut & Astronaut, Nav Res Ctr, Sch Automat Engn, Nanjing 211106, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Sch Internet Things, Nanjing 210023, Peoples R China
基金
中国国家自然科学基金;
关键词
cooperative navigation; UAV swarm; sigma point filter; belief propagation; LOCALIZATION; ALGORITHM; FILTER; GNSS;
D O I
10.3390/rs14091976
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
As navigation is a key to task execution of micro unmanned aerial vehicle (UAV) swarm, the cooperative navigation (CN) method that integrates relative measurements between UAVs has attracted widespread attention due to its performance advantages. In view of the precision and efficiency of cooperative navigation for low-cost micro UAV swarm, this paper proposes a sigma point belief propagation-based (SPBP) CN method that can integrate self-measurement data and inter-UAV ranging in a distributed manner so as to improve the absolute positioning performance of UAV swarm. The method divides the sigma point filter into two steps: the first is to integrate local measurement data; the second is to approximate the belief of position based on the mean and covariance of the state, and pass message by augmentation, resampling and cooperative measurement update of the state to realize a low-complexity approximation to traditional message passing method. The simulation results and outdoor flight test results show that with similar performance, the proposed CN method has a calculation load more than 20 times less than traditional BP algorithms.
引用
收藏
页数:22
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