Cooperative Terrain Navigation Using Hybrid GMM/SMC Message Passing on Factor Graphs

We introduce in this article a distributed factor-graph-based algorithm for anchorless cooperative aircraft localization in a GNSS-denied scenario without fixed infrastructure. The agents use terrain-aided navigation (TAN) to perform local position estimation and exchange messages to improve their p...

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Veröffentlicht in:	IEEE transactions on aerospace and electronic systems 2020-10, Vol.56 (5), p.3958-3970
Hauptverfasser:	Oliveira, Hallysson, Dias, Stiven Schwanz, Bruno, Marcelo Gomes da Silva
Format:	Artikel
Sprache:	eng
Schlagworte:	Aircraft Aircraft navigation Aircraft performance Algorithms Cooperative localization distributed Bayesian estimation factor graphs Gaussian mixture model Gaussian mixture models Global navigation satellite system Message passing Monte Carlo methods Probabilistic models Random variables sequential Monte Carlo Sum product algorithm Terrain terrain aided navigation Terrain referenced navigation
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