Cooperative Localization of Multi-UAVs via Dynamic Nonparametric Belief Propagation under GPS Signal Loss Condition英文学习材料.pdfVIP

Hindawi Publishing Corporation International Journal of Distributed Sensor Networks Volume 2014, Article ID 562380, 10 pages /10.1155/2014/562380 Research Article Cooperative Localization of Multi-UAVs via Dynamic Nonparametric Belief Propagation under GPS Signal Loss Condition Jiuqing Wan, Liping Zhong, and Fan Zhang Department of Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China Correspondence should be addressed to Jiuqing Wan; wanjiuqing@ Received 21 March 2013; Accepted 22 December 2013; Published 13 February 2014 Academic Editor: Shijian Li Copyright © 2014 J. Wan et al. his is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Self-localization is critical for many unmanned aerial vehicles (UAVs) tasks such as formation light, path planning, and activity coordination. Traditionally, UAV can locate itself using GPS combined with some inertial sensors. However, due to the complex light environment or failure of the GPS receiver, the UAV may lose its GPS signal and fail to locate itself, resulting in devastating consequence. In this paper, we will consider the problem of cooperative localization among multiple UAVs, in which the UAVs with failure of GPS receiver can help each other to locate themselves through mutual information exchanged based on the relative distance measurements. Speciically, we propose a dynamic Nonparametric Belief Propagation (dNBP) algorithm to calculate the posterior distribution of UAV’s position conditioned on all observations made in the whole UAVs group. he dNBP is a natural combination of NBP with particle iltering, suitable for treating with the nonlinear mod