A belief propagation (BP) based cooperative integrity monitoring (BP-CIM) algorithm is proposed in this work. BP is widely adopted as the cooperative positioning (CP) estimator, however, the corresponding integrity problem is not solved which restricts its practical application. To guarantee the reliability of a BP-based CP system, our proposed BP-CIM can detect the faulty observations in a distributed approach. Meanwhile, error analysis for BP is performed to derive the CP estimation error bound, which is subsequently used to determine the protection level (PL) of BP-CIM. The simulation and experimental results show that BP-CIM outperforms many existing fault-tolerant CP algorithms in the sides of accuracy and robustness, and the calculated PL can provide a conservative error bound for the estimated CP states. BP-CIM framework can be further extended to many other multi-sensor CP systems to improve the system reliability.


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    Title :

    Integrity for Belief Propagation-Based Cooperative Positioning


    Contributors:


    Publication date :

    2024-09-01


    Size :

    3316171 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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