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Collaborative navigation method in communication limited environment based on graph optimization

A communication-limited, collaborative navigation technology, applied in navigation through speed/acceleration measurement, navigation calculation tools, combustion engines, etc., can solve problems such as insufficient anchor point observation signals, dynamic changes in the topology of collaborative navigation nodes, etc., and achieve comprehensive The effect of improving positioning accuracy and suppressing the divergence of navigation errors

Pending Publication Date: 2022-08-02
BEIHANG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to provide a graph-optimized communication receiver that uses relative ranging information between nodes to perform distributed collaborative navigation and positioning for the problems of dynamic changes in the topology of collaborative navigation nodes and insufficient anchor point observation signals in complex environments. Cooperative Navigation Method in Constrained Environment

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  • Collaborative navigation method in communication limited environment based on graph optimization
  • Collaborative navigation method in communication limited environment based on graph optimization
  • Collaborative navigation method in communication limited environment based on graph optimization

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Embodiment Construction

[0057] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments do not limit the present invention by any means.

[0058] like Figure 5 A typical indoor communication occlusion environment is shown. Specifically, in the initial state, the environment is divided into the internal environment of the room and the external environment of the room. There are three unmanned vehicles in total, two of which are located indoors and one unmanned. The car is located outdoors; there are three communication base stations set up outside, one communication base station is located on the west side, and the other two communication base stations are arranged at intervals and located on the south side of the room, and the two communication base stations are at the same distance from the room; There are three entrance doors spaced apart on the side wall, and one entrance door is opened on the west si...

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Abstract

The invention discloses a graph optimization-based collaborative navigation method in a communication limited environment. The graph optimization-based collaborative navigation method comprises the following steps: S1, establishing a sensor observation model composed of an agent dead reckoning constraint and a UWB (Ultra Wideband) relative distance measurement constraint; s2, setting a connection form of graph vertexes and edges of the factor graph model, and constructing the factor graph model; s3, based on the factor graph model of each cooperative node, solving the objective function by using an LM algorithm to obtain an optimization result of the state variable of each node at the k moment; according to the collaborative navigation method, a factor graph model is constructed, a real-time established model of gyroscope zero offset is realized by utilizing an established factor graph constraint graph optimization model containing inertial dead reckoning, the gyroscope zero offset can be accurately estimated, and distributed collaborative navigation and positioning are carried out by utilizing relative distance measurement information between nodes. Navigation error divergence of the node in a complex denial environment is effectively inhibited, and the navigation positioning precision has no obvious change compared with continuous synchronous observation under the condition that anchor point observation is discontinuous and asynchronous.

Description

technical field [0001] The invention relates to the technical field of multi-agent cooperative navigation and positioning, in particular to a method for cooperative navigation in a communication-constrained environment based on graph optimization. Background technique [0002] The intelligent unmanned swarm system is composed of multi-agents such as unmanned aerial vehicles, unmanned vehicles, and robots through the information interaction between each other. Broad application prospects. One of the first problems to be solved by the unmanned swarm system to achieve complex autonomous cooperative control is the unification of space and time between nodes, that is, the relative and absolute positioning and navigation of multi-agent nodes in the system. [0003] Collaborative navigation technology is a key technology aimed at improving individual positioning and navigation accuracy in multi-agent systems. In a multi-agent system, the navigation state sharing and mutual observ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/206G01C21/165G01C21/1652Y02T10/40
Inventor 蔡庆中杨功流牛皓飞李健李晶
Owner BEIHANG UNIV
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