Distributed navigation system for uniaxial wheeled modules
- Авторы: Maximov V.1, Chernomorsky A.1
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Учреждения:
- Moscow Aviation Institute
- Выпуск: Том 55, № 5 (2016)
- Страницы: 807-820
- Раздел: 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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Аннотация
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.
Об авторах
V. Maximov
Moscow Aviation Institute
Автор, ответственный за переписку.
Email: memsdsp@gmail.com
Россия, Moscow
A. Chernomorsky
Moscow Aviation Institute
Email: memsdsp@gmail.com
Россия, Moscow
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