基于图模型的无人集群同步自定位与相对定位

doi:10.7527/S1000-6893.2023.29708

Abstract

Abstract:

Cooperative localization， including self-localization and relative-localization of unmanned carriers， is a technology that improves the localization accuracy of unmanned swarms in navigation infrastructure-limited environments. Self-localization is used to obtain the absolute pose of oneself， and relative-localization is used to obtain the relative pose between carriers. However， existing cooperative localization methods usually solve one aspect of the problem while ignoring the other， which not only limits the engineering application value of cooperative localization but also ignores the constraint relationship between swarm motion and individual motion； thereby， reducing cooperative estimation performance. To solve this problem， this paper proposes a Simultaneous Self and Relative Localization （SSRL） method that can parallelly perform self-localization and relative-localization of collaborative swarm. A probability graph model is constructed with probability constraint relationships to describe the probability relationship between self-localization states， relative localization states， and swarm measurements. Moreover， Gaussian information form is used to estimate the marginal probability of localization states in the graph model via an efficient approach. The experimental results show that SSRL can not only achieve simultaneous estimation of self-localization and relative-localization， but also has better estimation accuracy than traditional cooperative localization methods. The self-localization error and relative-localization error are reduced by 59.2% and 30.3%， respectively， indicating that SSRL provides a new fusion framework for swarm cooperative localization systems.

Key words: unmanned swarm, cooperative localization, graph model, relative-localization, self-localization

CLC Number:

V249.3

Jun XIONG, Xiangpeng XIE, Zhi XIONG, Yuan ZHUANG, Yu ZHENG. Synchronized self⁃localization and relative⁃localization of unmanned swarms based on graph model[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729708-729708.

Figures/Tables 12

Fig.1

Table 1

Symbol definition

符号	定义
$R$	无人载体集合
$L$	地标集合
$C i (t)$	t时刻与载体i有量测关系的其他载体集合
$s i (t)$	t时刻载体i的自定位状态（节点）
$r i j (t)$	t时刻载体i、j的相对定位状态（节点）
$u ˜ i (t)$	t时刻载体i的自身运动量测
$z ˜ i j (t)$	t时刻载体i获得相对于其他载体、地标j的量测
$M i t$	t时刻载体i的运动量测功能节点
$L l j t$	t时刻载体i关于地标j的相对量测功能节点
$F j t$	t时刻由载体j自定位状态构成的量测功能节点
$C i j t$	t时刻载体i、j相对运动约束功能节点
$R i j t$	t时刻载体i、j相对量测功能节点
$η$	信息向量
$Λ$	信息矩阵
$J$	雅各比矩阵
$m s i t → X$	由状态节点 $s i (t)$ 广播至因子 $X$ 的消息
$m X → s i t$	状态节点 $s i (t)$ 接收的来自因子 $X$ 的消息

Table 1

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Synchronized self⁃localization and relative⁃localization of unmanned swarms based on graph model

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