Cooperative Navigation and Coverage Identification with Random Gossip and Sensor Fusion
2016 (English)In: Proc. IEEE 9th Sensor Array and Multichannel Signal Processing Workshop (SAM), Institute of Electrical and Electronics Engineers (IEEE), 2016, 1-5 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 1-5 p.
Terrain-aided navigation, random gossip, cooperative localization, particle filtering, parameter estimation
IdentifiersURN: urn:nbn:se:liu:diva-130903OAI: oai:DiVA.org:liu-130903DiVA: diva2:956512
The Ninth IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM), Rio de Janeiro, Brazil, July 10-13, 2016