Cooperative Navigation and Coverage Identification with Random Gossip and Sensor Fusion [Elektronisk resurs]

• This paper is concerned with cooperative Terrain Aided Navigation of a network of aircraft using fusion of Radar Altimeter and inter-node range measurements. State inference is performed using a Rao-Blackwellized Particle Filter with online measurement noise statistics estimation. For terrain coverage measurement noise parameter identification, an online Expectation Maximization algorithm is proposed, where local sufficient statistics at each node are calculated in the E-step, which are then distributed to neighboring nodes using a random gossip algorithm to perform the M-step at each node. Simulation results show that improvement on positioning and calibration performance can be achieved compared to a non-cooperative approach. 

Ämnesord

Engineering and Technology  (hsv)

Electrical Engineering, Electronic Engineering, Information Engineering  (hsv)

Signal Processing  (hsv)

Teknik och teknologier  (hsv)

Elektroteknik och elektronik  (hsv)

Signalbehandling  (hsv)

Indexterm och SAB-rubrik

Terrain-aided navigation

random gossip

cooperative localization

particle filtering

parameter estimation