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基于混合动态信念传播的多无人机协同定位算法

万九卿 布少聪 钟丽萍

万九卿, 布少聪, 钟丽萍等 . 基于混合动态信念传播的多无人机协同定位算法[J]. 北京航空航天大学学报, 2016, 42(5): 934-944. doi: 10.13700/j.bh.1001-5965.2015.0321
引用本文: 万九卿, 布少聪, 钟丽萍等 . 基于混合动态信念传播的多无人机协同定位算法[J]. 北京航空航天大学学报, 2016, 42(5): 934-944. doi: 10.13700/j.bh.1001-5965.2015.0321
WAN Jiuqing, BU Shaocong, ZHONG Lipinget al. Cooperative localization algorithm of multi-UAVs based on dynamic hybrid belief propagation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 934-944. doi: 10.13700/j.bh.1001-5965.2015.0321(in Chinese)
Citation: WAN Jiuqing, BU Shaocong, ZHONG Lipinget al. Cooperative localization algorithm of multi-UAVs based on dynamic hybrid belief propagation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(5): 934-944. doi: 10.13700/j.bh.1001-5965.2015.0321(in Chinese)

基于混合动态信念传播的多无人机协同定位算法

doi: 10.13700/j.bh.1001-5965.2015.0321
基金项目: 国家自然科学基金(61174020)
详细信息
    作者简介:

    万九卿 男,博士,副教授,硕士生导师。主要研究方向:信号处理、目标检测跟踪与识别。Tel.:010-82338041 E-mail:wanjiuqing@buaa.edu.cn

    通讯作者:

    万九卿,Tel.:010-82338041 E-mail:wanjiuqing@buaa.edu.cn

  • 中图分类号: V279

Cooperative localization algorithm of multi-UAVs based on dynamic hybrid belief propagation

  • 摘要: 针对多无人机(UAVs)协同定位问题,提出一种基于混合动态信念传播的定位算法。在部分无人机GPS信号丢失的情况下,该算法可根据其他无人机的GPS观测,相邻无人机之间的相对距离观测,以及无人机加速度计的输出,对每个无人机的位置和速度状态进行分布式在线估计。首先用因子图模型描述多无人机的联合信念状态,接着给出一种混合动态信念传播推理算法计算图模型中的每个变量节点(对应于每个无人机)状态的边缘后验分布。推理过程仅包括每个无人机对自身局部信息的处理以及相邻无人机之间的信息交互,因此该算法可完全分布式实现。通过仿真实验以及与传统协同定位算法的比较,表明了本文算法的有效性。

     

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出版历程
  • 收稿日期:  2015-05-20
  • 网络出版日期:  2016-05-20

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