Dilution of Precision as a Geometry Metric for Swarm Relative Localization

Abstract

Swarms of agents can use range measurements to achieve relative localization. The accuracy of this localization is affected by the geometry of the swarm agents. To characterize the swarm geometry, a metric is needed that relates the geometry to localization accuracy. Such a metric, called Dilution of Precision (DOP), is commonly used for global positioning systems (GPSs). GPS differs from swarm relative localization, however, in that there is an unknown receiver clock bias, the localization is absolute instead of relative, and all of the satellite positions are known. This report derives a DOP metric suitable for swarm relative localization and investigates its utility in several example cases.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2017
Accession Number
AD1041065

Entities

People

  • Michael L. Don

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Satellites
  • Dilution
  • Errors
  • Gaussian Noise
  • Geometry
  • Global Positioning Systems
  • Measurement
  • Military Research
  • Navigation
  • Navigational Equipment
  • Noise
  • Precision
  • Simulations
  • Standards
  • Weapon Delivery

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Positioning, Navigation, and Timing (PNT) Technology.
  • Regression Analysis.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers