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Volume 42 Issue 5
May  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(5): 934-944.
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)
shu

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

doi: 10.13700/j.bh.1001-5965.2015.0321

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 20 May 2015
  • Publish Date: 20 May 2016
    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.

     

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