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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

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

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Author(s):
Oliveira, Hallysson [1] ; Dias, Stiven Schwanz [1] ; Bruno, Marcelo Gomes da Silva [2]
Total Authors: 3
Affiliation:
[1] EMBRAER SA, BR-12247820 Sao Jose Dos Campos, SP - Brazil
[2] Inst Tecnol Aeronaut, BR-12228900 Sao Jose Dos Campos, SP - Brazil
Total Affiliations: 2
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 type: Regular Research Grants