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

Author(s)

Oliveira, Hallysson ^[1] ; Dias, Stiven Schwanz ^[1] ; Bruno, Marcelo Gomes da Silva ^[2]

Affiliation

^[1] EMBRAER SA, BR-12247820 Sao Jose Dos Campos, SP - Brazil

^[2] Inst Tecnol Aeronaut, BR-12228900 Sao Jose Dos Campos, SP - Brazil

• Document type: Journal article
• Source: IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS; v. 56, n. 5, p. 3958-3970, OCT 2020.
• Web of Science Citations: 0

Abstract

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 position beliefs. Internode communication cost is reduced using a hybrid Gaussian mixture model / sequential Monte Carlo (GMM/SMC) approach. Simulation results show that, even in a partially connected network where only a small part of the agents perform TAN, cooperation yields better results than all aircraft performing TAN independently. (AU)

• FAPESP's process: 18/26191-0 - Bayesian methods for distributed estimation in cooperative networks
• Grantee: Marcelo Gomes da Silva Bruno
• Support Opportunities: Regular Research Grants