Transactions of Nanjing University of Aeronautics & Astronautics
A Parallel Integration Method of Cooperative Target-Localization and Cooperative Self-localization
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Abstract:
When a group of mobile agents track a target， they can locate themselves and the target in a cooperative manner. To maximize the group advantage， a parallel integration strategy of cooperative target-localization（CTL） and cooperative self-localization（CSL） is designed. Firstly， a global cost function containing the agents’ positions and the target’s position is established. Secondly， along with the agents’ positions being re-estimated during CTL， the U-transform is employed to propagate the error covariance of the position estimations among the agents. The simulation results show that， the proposal exploits more information for locating the target and the agents than the cases where CTL and CSL run separately， and the global optimal position estimations of the agents and the target are obtained.
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TN925
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