Paper Info
Title
Cooperative navigation and coverage identification with random gossip and sensor fusion
Abstract
This paper is concerned with cooperative Terrain Aided Navigation of a network of aircraft using fusion of Radar Altimeter and inter-node range measurements. State inference is performed using a Rao-Blackwellized Particle Filter with online measurement noise statistics estimation. For terrain coverage measurement noise parameter identification, an online Expectation Maximization algorithm is proposed, where local sufficient statistics at each node are calculated in the E-step, which are then distributed to neighboring nodes using a random gossip algorithm to perform the M-step at each node. Simulation results show that improvement on positioning and calibration performance can be achieved compared to a non-cooperative approach.
Year
DOI
Venue
2016
10.1109/SAM.2016.7569611
2016 IEEE Sensor Array and Multichannel Signal Processing Workshop (SAM)
Keywords
Field
DocType
cooperative navigation,coverage identification,random gossip algorithm,sensor fusion,terrain aided navigation,aircraft,radar altimeter,internode range measurement,state inference,Rao-Blackwellized particle filter,online measurement noise statistics estimation,terrain coverage measurement noise parameter identification,online expectation maximization algorithm,E-step,M-step,calibration,noncooperative approach
Noise measurement,Computer science,Particle filter,Terrain,Radar altimeter,Artificial intelligence,Computer vision,Mathematical optimization,Expectation–maximization algorithm,Algorithm,Gossip,Sensor fusion,Hidden Markov model
Conference
ISBN
Citations 
PageRank 
978-1-5090-2104-8
0
0.34
References 
Authors
9
4
Name
Order
Citations
PageRank
A. R. Braga111.12
Marcelo G. S. Bruno26011.99
Carsten Fritsche315714.72
Fredrik Gustafsson42287281.33