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。Abstract: A dynamic hybrid belief propagation algorithm for cooperative localization of multiple unmanned aerial vehicles (UAVs) was proposed. In the case that the GPS signals of some UAVs are missing, the position and velocity of each UAV in the group in an online and distributed manner based on the GPS observations of other UAVs, the relative distance measurements between neighboring UAVs, and the outputs of accelerometer of each UAV were estimated by the algorithm. Specifically, the joint belief state of multiple UAVs by factor graph was modeled, and the marginal posterior distribution of each node in the graph was calculated, corresponding to each UAV, using the hybrid dynamic belief propagation algorithm. The inference only involves local information processing on each UAV and mutual information exchanging among neighboring UAVs, allowing the algorithm to be implemented in a completed and distributed manner. The results show that the effectiveness of the method by comparison with traditional cooperative localization algorithms in simulations.
-
[1] PACK D J,DELIMA P,TOUSSAINT G J,et al.Cooperative control of UAVs for localization of intermittently emitting mobile targets[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2009,39(4):959-970. [2] ABDELKRIM N,AOUF N,TSOURDOS A,et al.Robust nonlinear filtering for INS/GPS UAV localization[C]//Proceedings of the 16th Mediterranean Conference on Control and Automation.Piscataway,NJ:IEEE Press,2008:695-702. [3] GODHA S,LACHAPELLE G,CANNON M E.Integrated GPS/INS system for pedestrian navigation in a signal degraded environment[C]//Proceedings of the 19th International Technical Meeting of the Division of the Institute of Navigation (ION GNSS 2006).Fairfax,VA:Institute of Navigation,2006:2151-2164. [4] JOURDAN D,DARDARI D,WIN M Z.Position error bound for UWB localization in dense cluttered environments[J].IEEE Transactions on Aerospace and Electronic Systems,2008,44(2):613-628. [5] 王建刚,王福豹,段渭军.加权最小二乘估计在无线传感器网络定位中的应用[J].计算机应用研究,2006,23(9):41-43. WANG J G,WANG F B,DUAN W J.Application of weighted least square estimates on wireless sensor network node localization[J].Application Research of Computers,2006,23(9):41-43(in Chinese). [6] 张正勇,孙智,王刚,等.基于移动锚节点的无线传感器网络节点定位[J].清华大学学报(自然科学版),2007,47(4):534-537. ZHANG Z Y,SUN Z,WANG G,et al.Localization in wireless sensor networks with mobile anchor nodes[J].Journal of Tsinghua University (Science and Technology),2007,47(4):534-537(in Chinese). [7] WANG L,WANG X,DU X.Some issues on WSN localization based on MLE[C]//Proceedings of the 8th World Congress on Intelligent Control and Automation.Piscataway,NJ:IEEE Press,2010:796-800. [8] JULIER S J.The scaled unscented transformation[C]//Proceedings of the American Control Conference.Piscataway,NJ:IEEE Press,2002,6:4555-4559. [9] WAN J Q,ZHONG L P,ZHANG F.Cooperative localization of multi-UAVs via dynamic nonparametric belief propagation under GPS signal loss condition[J].International Journal of Distributed Sensor Networks,2014(3):83-105. [10] CACERES M A,PENNA F,WYMEERSCH H,et al.Hybrid cooperative positioning based on distributed belief propagation[J].Selected Areas in Communications,2011,29(10):1948-1958. [11] QU Y,ZHANG Y,ZHOU Q.Cooperative localization of UAV based on information synchronization[C]//Proceedings of the 2010 IEEE International Conference on Mechatronics and Automation (ICMA).Piscataway,NJ:IEEE Press,2010:225-230. [12] SHAMES I,FIDAN B,ANDERSON B D O,et al.Cooperative self-localization of mobile agents[J].IEEE Transactions on Aerospace and Electronic Systems,2011,47(3):1926-1947. [13] QU Y,ZHANG Y.Cooperative localization against GPS signal loss in multiple UAVs flight[J].Journal of Systems Engineering and Electronics,2011,22(1):103-112. [14] WYMEERSCH H,LIEN J,WIN M Z.Cooperative localization in wireless networks[J].Proceedings of the IEEE,2009,97(2):427-450. [15] SCHIFF J,SUDDERTH E B,GOLDBERG K.Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements[C]//Proceedings of the RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ:IEEE Press,2009:1369-1376. [16] IHLER A T,FISHER J W,MOSES R L,et al.Nonparametric belief propagation for self-localization of sensor networks[J].Journal on Selected Areas in Communications,2005,23(4):809-819. [17] KSCHISCHANG F R,FREY B J,LOELIGER H A.Factor graphs and the sum-product algorithm[J].IEEE Transactions on Information Theory,2001,47(2):498-519. [18] CACERES M A,SOTTILE F,GARELLO R,et al.Hybrid GNSS-ToA localization and tracking via cooperative unscented Kalman filter[C]//Proceedings of the Personal,Indoor and Mobile Radio Communications(PIMRC).Piscataway,NJ:IEEE Press,2010:272-276.
点击查看大图
计量
- 文章访问数: 789
- HTML全文浏览量: 45
- PDF下载量: 655
- 被引次数: 0