Distributed Kalman Filters for Cooperative Localization of Munition Swarms

Abstract

Cooperative localization is a way for munition swarms to navigate in areas where GPS is denied or degraded. Cooperative schemes seek to distribute sensing and computing tasks among members of the swarm so that several agents with simpler, cheaper sensors and processors achieve high-precision solutions. Range-only sensors tend to be simpler, cheaper, and more rugged, thus this work considers only slant-range measurements between agents. Formulations of the distributed extended and unscented Kalman filters are reviewed in the context of range-only cooperative navigation. Measurement update equations are updated specific to the distributed extended Kalman filter for range-only measurements. Computational and communication sequences are clarified for distributed algorithms in formations larger than three. Several case studies are simulated to test for system observability and demonstrate performance of the algorithms.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2019
Accession Number
AD1080927

Entities

People

  • Bradley T. Burchett

Organizations

  • Rose–Hulman Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Altitude
  • Cartesian Coordinates
  • Case Studies
  • Computations
  • Detectors
  • Errors
  • Filters
  • Filtration
  • Flight
  • Kalman Filters
  • Measurement
  • Munitions
  • Navigation
  • Simulations
  • Slant Range
  • Three Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Systems Analysis and Design

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers