Multi-UAVs Cooperative Localization Algorithms with Communication Constraints

الملخص EN

Communication is the basis of multi-UAVs cooperative localization.

There will be some communication delay and packet loss when one UAV communicates with others, and these communication restrictions may have negative influences on multi-UAV cooperative localization.

In this paper, the communication among UAVs is described as Bernoulli random variables, and two kinds of cooperative localization algorithms are proposed.

One is centralized algorithm, where a kind of one-step prediction strategy is designed.

The other is distributed algorithm, where a kind of prediction-compensation strategy is proposed and weighted expectation state estimation method is designed.

Simulation results show the effectiveness of the proposed algorithms.