Resilient fusion navigation techniques : collaboration in swarm / Rong Wang, Zhi Xiong, Jianye Liu.
Wang, Rong.; Xiong, Zhi.; Liu, Jianye.
2022
TL589
Available Online

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Title Resilient fusion navigation techniques : collaboration in swarm / Rong Wang, Zhi Xiong, Jianye Liu.
Author Wang, Rong.
ISBN 9789811983719 (electronic bk.)
9811983712 (electronic bk.)
9811983704
9789811983702
DOI https://doi.org/10.1007/978-981-19-8371-9
Publication Details Singapore : Springer, 2022.
Language English
Description 1 online resource (226 p.).
Item Number 10.1007/978-981-19-8371-9 doi
Call Number TL589
Dewey Decimal Classification 629.132/51028
Summary This book describes the resilient navigation techniques under the background of collaboration in swarm. The significance of this work is that it focuses on the navigation enhancement by collaboration in swarm rather than ground infrastructure, which exploit potentialities of swarm in GNSS restricted environment. Although unmanned swarm is receiving greater attention, both through theoretical research and through increasing mention in the industrial developments, the navigation promotion by effective and efficient collaboration remains largely unexplored. While my scholarly work has explored some of the modeling, error characteristic, fusion algorithm, fault detection, and isolation aspects of the "adaptive navigation system" (such as the navigation system of robots and ground vehicles, aircrafts, aerospace vehicles, and unmanned aerial vehicles), the present book proposes the specialized investigation on the navigation with the resilient character, which could maintain the performance by essential collaboration with members in swarm in GNSS degradation environment. This book focused on the resilient navigation techniques under the background of collaboration in swarm. The key techniques of collaborative resilient navigation are proposed, including the collaboration framework, collaborative observation modeling, geometry optimization, integrity augmentation, and fault detection. The experiments are also carried out to validate the effectiveness of the corresponding techniques.
Note 4.2 Collaborative Localization Algorithms
Access Note Access limited to authorized users.
Digital File Characteristics text file PDF
Source of Description Online resource; title from PDF title page (SpringerLink, viewed January 24, 2023).
Added Author Xiong, Zhi.
Liu, Jianye.
Series Unmanned system technologies.
Available in Other Form Resilient Fusion Navigation Techniques: Collaboration in Swarm
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Intro
Preface
Acknowledgments
Contents
Abbreviations
1 Introduction
1.1 The Rise of Aerial Swarms
1.2 Sensors for Relative Observation in an Aerial Swarm
1.2.1 Collaborative Navigation Based on Radio Measurements
1.2.2 Collaborative Navigation Based on Visual Measurements
1.3 Development of Collaborative Resilient Navigation
1.3.1 Collaborative Navigation Research Focusing on the Suppression of INS Error Dispersion
1.3.2 Collaborative Navigation Research Focusing on Improving Positioning Accuracy in GNSS-Challenged Environments

1.3.3 Collaborative Navigation Research Focusing on Improving the Collaborative Configuration of a Swarm
1.4 Fault-Tolerant Navigation Technology with Collaboration
1.4.1 Collaborative Fault-Tolerant Navigation Research Involving Integrity Protection Level Assessment and Improvement
1.4.2 Collaborative Fault-Tolerant Navigation Research Involving Navigation Fault Detection and Identification Algorithms
1.5 Motivations
1.6 Organization of Content
References
2 Collaborative Resilient Navigation Frameworks
2.1 Introduction

2.2 Leader-Follower Collaborative Navigation Structure
2.3 Parallel Collaborative Navigation Structure
2.4 Hierarchical Collaborative Navigation Structure
2.5 Collaborative Localization-Based Fusion Framework for Resilient Navigation
2.6 Collaborative Observation-Based Fusion Framework for Resilient Navigation
2.7 Conclusions
References
3 Modelling for Resilient Navigation via Collaboration
3.1 Introduction
3.2 Coordinate Frames Used in Resilient Navigation via Collaboration
3.3 Ranging-Based Collaborative Observation Modelling

3.3.1 Relative-Ranging-Based Observation Geometry
3.3.2 Relative-Ranging-Based Observation Model
3.3.3 Relative-Ranging-Based Error Model
3.4 Range-Difference-Based Collaborative Observation Modelling
3.4.1 Relative-Range-Difference-Based Observation Geometry
3.4.2 Relative-Range-Difference-Based Observation Model I
3.4.3 Relative-Range-Difference-Based Observation Model II
3.4.4 Relative-Range-Difference-Based Error Model
3.5 Bearing-Only Collaborative Observation Modelling
3.5.1 Relative-Bearing-Only Observation Geometry

3.5.2 Relative-Bearing-Only Observation Model
3.5.3 Relative Bearing Error Model
3.6 Vector-of-Sight-Based Collaborative Observation Modelling
3.6.1 Relative-VOS-Based Observation Geometry
3.6.2 Relative VOS Observation Model in Spherical Coordinates
3.6.3 Relative VOS Error Model in Spherical Coordinates
3.6.4 Relative VOS Observation Model in Cartesian Coordinates
3.6.5 Relative VOS Error Model in Cartesian Coordinates
3.7 Conclusions
References
4 Collaborative Localization-Based Resilient Navigation Fusion
4.1 Introduction

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