Ranging-aided relative navigation of multi-platforms
Hai-Long PEI
Ruican XIA
摘要：This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform.The solution of Wahba's Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges,in which the relative distance estimation is derived and the estimation error distributions are analyzed.An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform.The relative poses between platforms are determined without any external aided measurement.To show this novelty,a real testbed is constructed by our research lab.And the experiment results are positive.
机标关键词：
资助基金：This work was supported in part by the Major State Basic Research Development Program of China(2014CB845303)the National Natural Science Foundation (NNSF) of China(61527810)the Science and Technology Planning Project of Guangdong,China(2013B020200006)
论文发表日期：2018-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：11( 122-132 )
英文信息