This article deals with the cooperative localization of maneuvering unmanned surface vessel (USV) based on multisensor fusion estimation, in which a sequential fusion filter is designed to estimate the real-time position of the USV. To avoid excessive communication consumption between sensors and the fusion filter, a stochastic event-triggered communication mechanism is adopted to ensure necessary measurements transmission. With the aid of the classical framework of sequential Bayesian filtering, an event-triggered sequential fusion filter is constructed by codesigning the stochastic event-triggered communication mechanism and the sequential filter, where a technique of unscented transformation with the sequential idea is used to resolve the intractable problem caused by nonlinear measurement models. Furthermore, a sufficient condition is established to ensure the boundedness of the fusion covariance. Finally, the effectiveness and superiority of the designed fusion filter is verified both by numerical simulation and practical experiment of a real USV tracking system.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Stochastic Event-Triggered Sequential Fusion Filtering for USV Cooperative Localization


    Contributors:
    Niu, Mengfei (author) / Wen, Guanghui (author) / Shen, Han (author) / Lv, Yuezu (author) / Chen, Guanrong (author)


    Publication date :

    2023-12-01


    Size :

    1299777 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Cooperative Robot Localization Using Event-Triggered Estimation

    Ouimet, Michael / Iglesias, David / Ahmed, Nisar et al. | AIAA | 2018


    Stochastic Event-Triggered Filtering for Nonlinear Systems Subject to Correlated Noises

    Song, Weihao / Qi, Yuhua / Wang, Jianan et al. | British Library Conference Proceedings | 2022


    Stochastic Event-Triggered Filtering for Nonlinear Systems Subject to Correlated Noises

    Song, Weihao / Qi, Yuhua / Wang, Jianan et al. | Springer Verlag | 2021


    Stochastic Event-Triggered Filtering for Nonlinear Systems Subject to Correlated Noises

    Song, Weihao / Qi, Yuhua / Wang, Jianan et al. | TIBKAT | 2022


    Event-triggered Distributed Cooperative Guidance for Multiple Aircraft

    Tan, Qingke / Xie, Xiaoyang / Yu, Tao et al. | IEEE | 2022