TY - JOUR
T1 - Multi-UAVs Cooperative Localization Algorithms with Communication Constraints
AU - Fu, Xiaowei
AU - Bi, Haiyang
AU - Gao, Xiaoguang
N1 - Publisher Copyright:
© 2017 Xiaowei Fu et al.
PY - 2017
Y1 - 2017
N2 - Communication is the basis of multi-UAVs cooperative localization. There will be some communication delay and packet loss when one UAV communicates with others, and these communication restrictions may have negative influences on multi-UAV cooperative localization. In this paper, the communication among UAVs is described as Bernoulli random variables, and two kinds of cooperative localization algorithms are proposed. One is centralized algorithm, where a kind of one-step prediction strategy is designed. The other is distributed algorithm, where a kind of prediction-compensation strategy is proposed and weighted expectation state estimation method is designed. Simulation results show the effectiveness of the proposed algorithms.
AB - Communication is the basis of multi-UAVs cooperative localization. There will be some communication delay and packet loss when one UAV communicates with others, and these communication restrictions may have negative influences on multi-UAV cooperative localization. In this paper, the communication among UAVs is described as Bernoulli random variables, and two kinds of cooperative localization algorithms are proposed. One is centralized algorithm, where a kind of one-step prediction strategy is designed. The other is distributed algorithm, where a kind of prediction-compensation strategy is proposed and weighted expectation state estimation method is designed. Simulation results show the effectiveness of the proposed algorithms.
UR - http://www.scopus.com/inward/record.url?scp=85029716353&partnerID=8YFLogxK
U2 - 10.1155/2017/1943539
DO - 10.1155/2017/1943539
M3 - 文章
AN - SCOPUS:85029716353
SN - 1024-123X
VL - 2017
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 1943539
ER -