Distributed navigation system for uniaxial wheeled modules
- Authors: Maximov V.N.1, Chernomorsky A.I.1
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Affiliations:
- Moscow Aviation Institute
- Issue: Vol 55, No 5 (2016)
- Pages: 807-820
- Section: Navigation Systems
- URL: https://journals.rcsi.science/1064-2307/article/view/219735
- DOI: https://doi.org/10.1134/S1064230716050105
- ID: 219735
Cite item
Abstract
The possibility of the development of a distributed navigation system for the efficient estimation of the navigation parameters of a group of ground mobile modules is considered. A distinctive feature of the proposed system is that only a small part of the modules is equipped with precise navigation equipment. The problem is solved in a nonlinear formulation for nonholonomic wheeled modules using the Bayesian filter in the form of a particle filter. The consistency of the estimation of navigation parameters in the distributed system of modules is provided by the covariance intersection algorithm.
About the authors
V. N. Maximov
Moscow Aviation Institute
Author for correspondence.
Email: memsdsp@gmail.com
Russian Federation, Moscow
A. I. Chernomorsky
Moscow Aviation Institute
Email: memsdsp@gmail.com
Russian Federation, Moscow