We propose a fully distributed methodology based on factor graphs for joint cooperative localization and distributed noncooperative target tracking in a 3-D scenario where multiple surveillance aircraft fly in formation without access to global navigation satellite system (GNSS) measurements or communication with anchor nodes. Our approach is based on the adapt-then-combine (ATC) diffusion scheme, which is integrated into the factor graph by the introduction of special combine factors to perform geometric average fusion of the target beliefs over a partially connected network. The updated target belief held by each aircraft following the combine step is also fed back to improve the aircraft's own self-localization, assimilating the target measurements. Simulation results show that the proposed distributed algorithm performed close to the posterior Cramér-Rao lower bound of the optimal centralized solution and that the agents approached a consensus about the target state estimate.


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    Titel :

    GNSS-Denied Joint Cooperative Terrain Navigation and Target Tracking Using Factor Graph Geometric Average Fusion


    Beteiligte:


    Erscheinungsdatum :

    2024-02-01


    Format / Umfang :

    1778452 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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