Weighted Factor Graph aided Distributed Cooperative Position Algorithm

Xingxing, Zhu; Zhang, Yi; Tang, Chengkai; Jun, Liu

doi:10.1109/icspcc46631.2019.8960790

Cited by 4 publications

(4 citation statements)

References 13 publications

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“…The network topology diagram is shown in Figure 1, which contains n m agents and p a anchors; a red link indicates that there is an obstacle between the anchor node and the agent, which is NLOS; a yellow link indicates a line-of-sight connection between the anchor and the agent; and a blue link indicates communication between the agents. The update mode of the belief information of each agent is the same in the proposed method [19]; therefore, this paper takes any agent q m in the network as an example. The In Figure 2, all nodes are considered to be variable nodes, j i t F  represents the function node from the neighbor node i to the agent j t , and the function node is used for data processing of positioning information.…”

Section: Factor-graph-aided Three-dimensional Faster Cooperative Positioning Algorithmmentioning

confidence: 99%

“…A solid line in the Figure 2 represents the belief information provided by the variable node to the function node, and a dotted line represents the position estimation information provided by the neighboring nodes to the target node [19][20][21]. Based on the calculation criteria of the sum-product algorithm, the paper uses belief information to iterate, transfer and solve in the factor graph, and then achieves the positioning of the target node.…”

Section: Factor-graph-aided Three-dimensional Faster Cooperative Positioning Algorithmmentioning

confidence: 99%

“…In cooperative positioning [28][29], the ranging accuracy between neighboring nodes and the positioning target will affect the accuracy of the entire cooperative positioning system [19]. Positioning errors will accumulate in the iterative process, resulting in a decrease in positioning performance.…”

Section: B Analysis Of the Influence Of Ranging Errormentioning

confidence: 99%

“…Information-aided belief propagation is proposed in [17] to identify mutation error. Angle measurement is introduced into the cooperative positioning system to identify mutation error [18],but it has the problem of large amount of calculation.Our team proposed a weighted factor graph aided distributed cooperative position algorithm [19]. A variety of performance tests are used in [20] and [21] and found that the cooperative positioning based on factor graph has the advantage of fast positioning speed.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Factor-Graph-Aided Three-Dimensional Faster Cooperative Positioning Algorithm

et al. 2021

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With the development of smart cities and 5G applications, there is an increasingly urgent need for cooperative positioning among all kinds of intelligent terminals. Existing cooperative positioning technology is primarily designed for two-dimensional positions, and the computing speed and positioning accuracy cannot meet the needs of smart cities. To solve these problems, this paper proposes a factor-graphaided three-dimensional faster cooperative positioning algorithm (FG-3DCP) that combines a factor graph and sum product theory to establish a cooperative localization model with many nodes. To reduce computational complexity and describe fast positioning, the parameter independence of the factor graph is used, and the positioning data of each node coordinate axis are calculated independently. Then, the positioning result is obtained by fusion, and the computing speed is markedly improved. The proposed algorithm was simulated and analyzed in terms of ranging error, position ambiguity, network topology and the number of nodes. When the proposed algorithm was compared to the existing non-Bayesian estimation cooperative position methods, the position performance improved more than 20%, and the convergence rate was the fastest in the 3D environment.

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Section: Factor-graph-aided Three-dimensional Faster Cooperative Positioning Algorithmmentioning

confidence: 99%

Section: Factor-graph-aided Three-dimensional Faster Cooperative Positioning Algorithmmentioning

confidence: 99%

Section: B Analysis Of the Influence Of Ranging Errormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Factor-Graph-Aided Three-Dimensional Faster Cooperative Positioning Algorithm

et al. 2021

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UAV cluster geometric information fusion cooperative positioning algorithm with LEO satellite system

Tang,

Wang,

Zhang

et al. 2024

IET Control Theory & Appl

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With the rapid development of unmanned aerial vehicle (UAV) clusters, they will become the main means in urban transportation, traffic monitoring and other fields. The positioning accuracy of UAV clusters is the core basis of the application, this paper proposes a UAV cluster information geometry fusion positioning method based on low‐orbit satellite system, which uses the geometric relationship between UAV clusters to transform the low‐orbit constellation navigation information of each UAV into an information geometry probability model, reducing the influence of the low‐orbit satellite system time asynchrony, and through Kullback–Leibler average fusion to achieve UAV cluster real‐time high‐precision positioning. The method effectively solves the problem caused by the easy loss of GNSS signals in the obscured environment, and significantly improves the reliability and stability of UAV cluster positioning in urban environments. Comparing the method of this paper with the existing UAV fusion navigation methods in terms of positioning accuracy stability, positioning real‐time and error mutation under the occlusion scenario, the experimental results show that the method of this paper has obvious superiority in the above indexes.

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Clusters 3D Real-time Cooperative Positioning Algorithm in Underground Mines

Zhang

Tang

et al. 2022

2022 IEEE International Conference on Signal Processing, Communications and Computing (ICSPCC)

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Weighted Factor Graph aided Distributed Cooperative Position Algorithm

Cited by 4 publications

References 13 publications

Factor-Graph-Aided Three-Dimensional Faster Cooperative Positioning Algorithm

Factor-Graph-Aided Three-Dimensional Faster Cooperative Positioning Algorithm

UAV cluster geometric information fusion cooperative positioning algorithm with LEO satellite system

Clusters 3D Real-time Cooperative Positioning Algorithm in Underground Mines

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