In this paper, a new factor graph-based approach is presented to achieve the cooperative localization of the satellite cluster by using both multiple sensors. The proposed method is introduced that allows multi-rate, asynchronous, and possibly delayed measurements to be incorporated naturally. Based on the incremental smoother, the developed scheme can automatically determine the number of states to recompute at each step, effectively acting as an adaptive fixed-lag smoother. Applying this method, the localization accuracy can be significantly improved. Moreover, it does not have a dependence on infrastructure and saves positioning costs. Besides, the factor graph algorithm is essentially the process of factor factorization, which achieves dimensionality reduction, significantly reduces computational complexity, and enables fast location.
Cooperative Localization of Satellite Cluster via Factor Graphs Theory
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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