The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
위치 정보는 다중 무인 항공기(UAV) 애플리케이션에서 중요한 역할을 합니다. 전통적으로 위치 정보는 우수한 성능과 글로벌 커버리지로 인해 GNSS(Global Navigation Satellite System)를 통해 널리 제공되었습니다. 그러나 복잡한 비행 환경이나 신호 차단, 전파 방해, 의도하지 않은 간섭으로 인해 UAV는 GNSS만을 사용하여 위치를 찾지 못할 수도 있습니다. 이러한 문제를 해결하기 위한 새로운 방법으로 P3P 범위 측정과 보조 정보를 통합한 협동 측위가 측위의 정확성과 가용성을 향상시킬 수 있다는 점에서 점점 더 많은 주목을 받고 있습니다. 그러나 다중 UAV의 협력 위치 지정에 대한 우수한 성능을 달성하는 것은 이동성, 임의의 비선형 상태 진화, 측정 모델 및 제한된 계산 및 통신 리소스로 인해 어렵습니다. 본 논문에서는 GNSS가 서비스를 제공할 수 없는 XNUMX차원 환경에서 UAV 간의 협력적 측위 문제를 해결하기 위한 FG(Factor Graph) 표현 및 메시지 전달 방법론을 제시합니다. 또한 계산 복잡도와 통신 비용을 줄이면서 비선형 상태 진화 및 측정 모델을 다루기 위해 BP(Belief Propagation)를 사용하는 CR(Spherical-Radial Cubature Rules) 방법을 사용하여 동적 및 하이브리드 UAV용 분산 알고리즘을 개발합니다. 및 FG의 변형 메시지 전달(VMP) 방법(CRBP-VMP)입니다. 제안된 CRBP는 고도로 비선형적인 상태 진화 모델과 비가우시안 분포를 다루며, VMP 방법은 메시지 거리 측정에 사용되며, 메시지 표현이 더 간단해지고 결합 추정 문제에서 통신 비용을 줄일 수 있습니다. 시뮬레이션 결과는 제안된 CRBP-VMP 알고리즘이 무선 네트워크(SPAWN) 및 기존 Cubature Kalman을 통한 합산 알고리즘과 비교하여 달성할 수 있는 더 높은 위치 정확도, 더 나은 수렴뿐만 아니라 낮은 계산 복잡성 및 통신 비용을 보여줍니다. 필터(CKF) 방법.
Lu LU
Army Engineering University,Test and Assessment Research Center of China Satellite Navigation Office (TARC-CSNO)
Guangxia LI
Army Engineering University
Tianwei LIU
Army Engineering University
Siming LI
Army Engineering University
Shiwei TIAN
Army Engineering University
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Lu LU, Guangxia LI, Tianwei LIU, Siming LI, Shiwei TIAN, "A Hybrid CRBP-VMP Cooperative Positioning Algorithm for Distributed Multi-UAVs" in IEICE TRANSACTIONS on Communications,
vol. E102-B, no. 10, pp. 1933-1940, October 2019, doi: 10.1587/transcom.2018DRP0004.
Abstract: Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.
URL: https://global.ieice.org/en_transactions/communications/10.1587/transcom.2018DRP0004/_p
부
@ARTICLE{e102-b_10_1933,
author={Lu LU, Guangxia LI, Tianwei LIU, Siming LI, Shiwei TIAN, },
journal={IEICE TRANSACTIONS on Communications},
title={A Hybrid CRBP-VMP Cooperative Positioning Algorithm for Distributed Multi-UAVs},
year={2019},
volume={E102-B},
number={10},
pages={1933-1940},
abstract={Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.},
keywords={},
doi={10.1587/transcom.2018DRP0004},
ISSN={1745-1345},
month={October},}
부
TY - JOUR
TI - A Hybrid CRBP-VMP Cooperative Positioning Algorithm for Distributed Multi-UAVs
T2 - IEICE TRANSACTIONS on Communications
SP - 1933
EP - 1940
AU - Lu LU
AU - Guangxia LI
AU - Tianwei LIU
AU - Siming LI
AU - Shiwei TIAN
PY - 2019
DO - 10.1587/transcom.2018DRP0004
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E102-B
IS - 10
JA - IEICE TRANSACTIONS on Communications
Y1 - October 2019
AB - Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.
ER -