USV Cluster Cooperative Navigation Algorithm based on factor graph

被引：0
|
作者：
Liu, Jianwei [1 ,2 ,3 ]
Guo, Hao [2 ]
Liu, Xixiang [1 ,3 ]
Pan, Shuguo [1 ,3 ]
机构：
[1] Southeast Univ, Sch Instrument Sci & Engn, Nanjing 210096, Peoples R China
[2] Jiangsu Automat Res Inst, Lianyungang 222000, Peoples R China
[3] Minist Educ, Key Lab Microinertial Instrument & Adv Nav Techno, Nanjing 210096, Peoples R China
来源：
2022 IEEE 6TH ADVANCED INFORMATION TECHNOLOGY, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IAEAC) | 2022年
关键词：
USV clusters; Cooperative Navigation; Factor graph; Decentralized structure;
D O I：
10.1109/IAEAC54830.2022.9929590
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cooperative navigation is one of the critical technologies that must be tackled for Unmanned surface vehicle(USV) clusters to perform missions. It adopts decentralized decoupling structure and uses USV's own radar or photoelectric sensors to measure the relative distance and relative azimuth between USVs, and establishes a factor graph-based cooperative navigation algorithm to achieve high-precision cooperative positioning of USV clusters. Lora ad hoc network is used to realize the sharing of measurement information between USVs. Through the navigation experiments of USV clusters, the results show that the algorithm can improve the accuracy of cooperative positioning of low navigation accuracy USVs.
引用
收藏
页码：955 / 959
页数：5
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