Distributed navigation system for uniaxial wheeled modules
- Autores: Maximov V.1, Chernomorsky A.1
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Afiliações:
- Moscow Aviation Institute
- Edição: Volume 55, Nº 5 (2016)
- Páginas: 807-820
- Seção: Navigation Systems
- URL: https://journals.rcsi.science/1064-2307/article/view/219735
- DOI: https://doi.org/10.1134/S1064230716050105
- ID: 219735
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Resumo
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.
Sobre autores
V. Maximov
Moscow Aviation Institute
Autor responsável pela correspondência
Email: memsdsp@gmail.com
Rússia, Moscow
A. Chernomorsky
Moscow Aviation Institute
Email: memsdsp@gmail.com
Rússia, Moscow
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