无人机-UGV协作定位与最小的传感
A H T Eranga De Silva1, Jayantha Katupitiya1
1School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW 2052, Australia.
Sensors (Basel, Switzerland)
|July 27, 2024
概括
这项研究引入了一种新方法,用于在GPS被拒绝的地区使用两个无人机 (UAV) 定位无人地面车辆 (UGV). 它通过一个受约束的扩展卡尔曼波器解决了不可观察性问题,确保可靠的UGV本地化.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 导航系统 导航系统
- 控制理论 控制理论
背景情况:
- 无人地面车辆 (UGV) 通常在缺乏全球导航卫星系统 (GNSS) 信号的环境中运行.
- 精确的本地化对于UGV自主性和任务成功至关重要.
- 现有的本地化方法在GNSS被拒绝的场景中可能会遇到困难,或者需要过多的资源.
研究的目的:
- 开发一种新的方法,用于在GNSS被拒绝的环境中使用最小数量的无人机 (UAV) 来定位UGV.
- 为了解决和解决仅使用两个无人机进行定位所固有的估计不可观察性问题.
- 提出一个强大的本地化解决方案,确保可靠的UGV定位.
主要方法:
- 使用两个配备GNSS的无人机通过距离传感定位UGV.
- 开发一个受约束的扩展卡尔曼波器 (CEKF) 来克服不可观察性.
- 在CEKF框架内纳入新的动力学和基于启发式的约束.
- 评估方法的随机可观察性,使用后方克拉梅尔-拉奥边界 (PCRB).
主要成果:
- 通过使用两个无人机的最小配置,证明了成功的UGV本地化.
- 提出的基于CEKF的方法有效地减轻了估计的不可观察性.
- 随机可观察性分析证实了本地化方法的稳定性和可靠性.
结论:
- 提出的方法提供了一个有效的解决方案,用于UGV本地化在GNSS-denied环境.
- 使用两个无人机与CEKF相结合,提供了一种实用且资源高效的方法.
- 该研究通过严格的评估证实了拟议的本地化技术的可行性和成功.
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