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| Ranging-aided relative navigation of multi-platforms |
| H.L.Pei,R.Xia |
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| (Key Lab of Autonomous Systems and Networked Control, Ministry of Education, China;
Unmanned System Engineering Center of Guangdong Province, Guangzhou Guangdong 510640, China;
School of Automation, South China University of Technology, Guangzhou Guangdong 510640, China) |
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| 摘要: |
| This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba's Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive. |
| 关键词: Multi-vehicles, relative navigation, Wahba's Problem, pose estimation, extended Kalman filter |
| DOI： |
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| 基金项目:This work was supported in part by the Major State Basic Research Development Program of China (No. 2014CB845303), the National Natural Science Foundation (NNSF) of China (No. 61527810) and the Science and Technology Planning Project of Guangdong, China (No. 2013B020200006). |
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| Ranging-aided relative navigation of multi-platforms |
| H. L. Pei,R. Xia |
| (Key Lab of Autonomous Systems and Networked Control, Ministry of Education, China;
Unmanned System Engineering Center of Guangdong Province, Guangzhou Guangdong 510640, China;
School of Automation, South China University of Technology, Guangzhou Guangdong 510640, China) |
| Abstract: |
| This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba's Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive. |
| Key words: Multi-vehicles, relative navigation, Wahba's Problem, pose estimation, extended Kalman filter |
