Active and passive combined cooperative localization model

摘要

This paper presents current work on decentralized data fusion applied to the relative localization among multiple platform, which is one of the key formation control techniques for mobile robots or unmanned aerial vehicles. The cooperative localization is one of the key problems for the multiple platform formation. When using geometrical method, at least three pieces of PPLIs is needed, moreover a series of complex problems such as time quality (TQ) and position quality (PQ) must be considered. This paper presents current work on decentralized data fusion applied to the relative localization among multiple platform. A novel active and passive combined scheme is proposed. The model to calculate the pseudomeasurement and the concomitant error covariance matrix is deduced for the planar circumstance.