Cooperative Localization of Multi-UAVs via Dynamic Nonparametric Belief Propagation under GPS Signal Loss Condition

Wan, Jiuqing; Zhong, Liping; Zhang, Fan

doi:10.1155/2014/562380

Cited by 25 publications

(15 citation statements)

References 19 publications

(50 reference statements)

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“…CP has demonstrated to be useful for positioning of mobile platforms navigating in challenging GNSS, as well as GNSS-denied environments ([1,2,3,4]), where at least some of the nodes can achieve an acceptable level of positioning accuracy using GNSS, while other nodes are in GNSS-denied environment(s), and the nodes in the network are well-connected to each other and inter-node range information is available ([1,2,3,5]). The CP approach relies on information exchange in an inter-connected network of multiple nodes that could be static (called anchor/infrastructure nodes) or dynamic (such as Unmanned Aerial Vehicles (UAVs), pedestrians, cars) in nature ([1,2,3,4,6,7,8,9,10,11,12,13]). Each node shares information about its own state, as well as relative information with respect to its neighbouring nodes.…”

Section: Introductionmentioning

confidence: 99%

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Gabela

Retscher

Goel

et al. 2019

Sensors

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Cooperative positioning (CP) utilises information sharing among multiple nodes to enable positioning in Global Navigation Satellite System (GNSS)-denied environments. This paper reports the performance of a CP system for pedestrians using Ultra-Wide Band (UWB) technology in GNSS-denied environments. This data set was collected as part of a benchmarking measurement campaign carried out at the Ohio State University in October 2017. Pedestrians were equipped with a variety of sensors, including two different UWB systems, on a specially designed helmet serving as a mobile multi-sensor platform for CP. Different users were walking in stop-and-go mode along trajectories with predefined checkpoints and under various challenging environments. In the developed CP network, both Peer-to-Infrastructure (P2I) and Peer-to-Peer (P2P) measurements are used for positioning of the pedestrians. It is realised that the proposed system can achieve decimetre-level accuracies (on average, around 20 cm) in the complete absence of GNSS signals, provided that the measurements from infrastructure nodes are available and the network geometry is good. In the absence of these good conditions, the results show that the average accuracy degrades to meter level. Further, it is experimentally demonstrated that inclusion of P2P cooperative range observations further enhances the positioning accuracy and, in extreme cases when only one infrastructure measurement is available, P2P CP may reduce positioning errors by up to 95%. The complete test setup, the methodology for development, and data collection are discussed in this paper. In the next version of this system, additional observations such as the Wi-Fi, camera, and other signals of opportunity will be included.

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Section: Introductionmentioning

confidence: 99%

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Gabela

Retscher

Goel

et al. 2019

Sensors

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“…The shared information in such an inter-connected network is used for localization of all dynamic (or even static) nodes, even in GNSS denied environments. Based on the strategy adopted for processing, a CL framework can be divided into two broad categories: centralized [8][9][10][11] and distributed [11][12][13][14][15][16][17][18][19][20][21][22][23][24]. Centralized networks employ a central processor that is responsible for collecting, computing and communicating the states of all nodes in a network.…”

Section: Introductionmentioning

confidence: 99%

“…An incorrect estimation or ignoring these correlations has been demonstrated to cause divergence problems in distributed systems [12,26,27]. Therefore, specific algorithms such as the Covariance Intersection Filter (CIF) [17,21], Split Covariance Intersection Filter (SCIF) [20], and Belief Propagation (BP) [16,22,23] have been developed that either estimate or avoid the unknown correlation. Filters such as the CIF and SCIF utilize an optimization method to explicitly estimate the correlations in the states of the nodes using covariance minimization of the fused state.…”

Section: Introductionmentioning

confidence: 99%

Development and Experimental Evaluation of a Low-Cost Cooperative UAV Localization Network Prototype

Goel

Kealy

Lohani

2018

JSAN

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Precise localization is one of the key requirements in the deployment of UAVs (Unmanned Aerial Vehicles) for any application including precision mapping, surveillance, assisted navigation, search and rescue. The need for precise positioning is even more relevant with the increasing automation in UAVs and growing interest in commercial UAV applications such as transport and delivery. In the near future, the airspace is expected to be occupied with a large number of unmanned as well as manned aircraft, a majority of which are expected to be operating autonomously. This paper develops a new cooperative localization prototype that utilizes information sharing among UAVs and static anchor nodes for precise positioning of the UAVs. The UAVs are retrofitted with low-cost sensors including a camera, GPS receiver, UWB (Ultra Wide Band) radio and low-cost inertial sensors. The performance of the low-cost prototype is evaluated in real-world conditions in partially and obscured GNSS (Global Navigation Satellite Systems) environments. The performance is analyzed for both centralized and distributed cooperative network designs. It is demonstrated that the developed system is capable of achieving navigation grade (2-4 m) accuracy in partially GNSS denied environments, provided a consistent communication in the cooperative network is available. Furthermore, this paper provides experimental validation that information sharing is beneficial to improve positioning performance even in ideal GNSS environments. The experiments demonstrate that the major challenges for low-cost cooperative networks are consistent connectivity among UAV platforms and sensor synchronization.

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“…The proprioceptive and relative measurement data, accurate landmark and groundtruth position data from a motion capture system are collected. More details can be 4 The relative measurement improves the position tracking accuracy, but is not able to bound the overall uncertainty [8]. Table 2.…”

Section: Sensor Performance Effect On Similarity Conversionmentioning

confidence: 99%

“…As a novel localization strategy, cooperative localization (CL) provides higher positioning accuracy over independent localization (IL) where each agent solves its localization by itself. In some application scenes, where not all agents have accuracy localization due to the environment or hardware level, the advantages of CL are prominent [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

A Small-Sized Locating Message for Cooperative Localization under Communication Constraint

Wang

Zhang

Liang

2016

International Journal of Advanced Robotic Systems

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When one agent simultaneously measures multiple teammates in cooperative localization, how to share these relative measurements with low-cost communication is interesting. In this chapter, different communication requirements for sharing absolute measurement and relative measurement are analyzed under extended Kalman filtering, whereby we develop an algorithm to convert multiple relative measurements into one virtual absolute measurement. By this, less number of elements are required to be transmitted across the agents. The utilization of multi-relative measurements is changed to the mode of one round communication from conventional mode where the measurements are processed and broadcast one by one. Simulation results demonstrate that, using the virtual absolute measurement, the almost equal localization performance with real relative measurements is obtained.

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Cooperative Localization of Multi-UAVs via Dynamic Nonparametric Belief Propagation under GPS Signal Loss Condition

Cited by 25 publications

References 19 publications

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Experimental Evaluation of a UWB-Based Cooperative Positioning System for Pedestrians in GNSS-Denied Environment

Development and Experimental Evaluation of a Low-Cost Cooperative UAV Localization Network Prototype

A Small-Sized Locating Message for Cooperative Localization under Communication Constraint

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