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.
Modelling for Resilient Navigation via Collaboration
Unmanned Syst. Tech.
2023-01-01
35 pages
Article/Chapter (Book)
Electronic Resource
English
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