The modelling of observations and errors is the foundation of resilient navigation fusion. The relative observations that can be introduced into collaborative resilient fusion vary with the available relative measurement sensors. Therefore, it is necessary to perform modelling in accordance with the constraint properties of different relative observations of navigation parameters. This chapter discusses the modelling of collaborative observations as well as the corresponding error covariance, presenting approaches based on range measurements, range difference measurements, bearing-only measurements, and vector-of-sight measurements. In these analyses, modelling is carried out for both the hierarchical and parallel navigation structures of an aerial swarm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modelling for Resilient Navigation via Collaboration


    Additional title:

    Unmanned Syst. Tech.


    Contributors:
    Wang, Rong (author) / Xiong, Zhi (author) / Liu, Jianye (author)


    Publication date :

    2023-01-01


    Size :

    35 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Resilient fusion navigation techniques : collaboration in swarm

    Wang, Rong / Xiong, Zhi / Liu, Jianye | TIBKAT | 2023


    Collaborative Resilient Navigation Frameworks

    Wang, Rong / Xiong, Zhi / Liu, Jianye | Springer Verlag | 2023


    Collaborative Integrity Augmentation in Resilient Navigation

    Wang, Rong / Xiong, Zhi / Liu, Jianye | Springer Verlag | 2023


    Collaborative Fault Detection in Resilient Navigation

    Wang, Rong / Xiong, Zhi / Liu, Jianye | Springer Verlag | 2023


    Collaborative Geometry Optimization in Resilient Navigation

    Wang, Rong / Xiong, Zhi / Liu, Jianye | Springer Verlag | 2023