Navigation integrity is critical for the reliability of aerial swarms. The geometric configuration of the selected partners for collaboration has a significant impact on the effectiveness and efficiency of the collaborative integrity enhancement. In this chapter, an improved protection level is introduced to quantitatively evaluate navigation integrity in collaborative resilient navigation fusion. The influence of geometry on integrity in collaborative resilient navigation fusion is discussed in both the GNSS-augmented and GNSS-denied situations. Integrity optimization algorithms based on the geometric analysis method and the algebraic search method are proposed, with simulated examples.
Collaborative Integrity Augmentation in Resilient Navigation
Unmanned Syst. Tech.
Resilient Fusion Navigation Techniques: Collaboration in Swarm ; Chapter : 7 ; 149-171
2023-01-01
23 pages
Article/Chapter (Book)
Electronic Resource
English
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