Decentralized extend information filter for cooperative localization of UUVs Article Swipe
Zhenqiang Du
,
Hongzhou Chai
,
Minzhi Xiang
,
Fan Zhang
,
Ziru Huang
,
ZHU Huawei
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.11947/j.agcs.2022.20210144
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.11947/j.agcs.2022.20210144
Compared with the single UUV, the cooperative work of unmanned underwater vehicle (UUV) can expand the sensing range and accomplish complex tasks.Due to the complexity of the underwater environment and the limitation of UUV sensors, the huge real-time communication required by the traditional Kalman filtering method is difficult to realize in the underwater environment, which makes the result of current cooperative localization is not rigorous. To solve the problem, a new decentralized extend information filter method for UUVs cooperative localization is proposed. Based on the rigorous theory, the distributed cooperative localization of UUVs is realized.Each UUV establishes its own state chain according to the local sensor data, broadcasts its observation information, and cooperates to complete the Cholesky correction. The consistency between the proposed decentralized filter and centralized filter is proved, and the comparison experiment between the new method and the traditional method is carried out.Theoretical simulation analysis shows that, compared with the traditional methods that the observation updating of the single UUV or the two UUVs will result in the observation updating of the whole UUVs, the new method realizes the observation updating only related to the UUVs that directly involved in the observation.The proposed method reduces the communication payloads and has good expansibility for observation information.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doaj.org/article/234bfcedbba14e8bb5cb22ff621e9ecb
- OA Status
- green
- Cited By
- 1
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- 10
- OpenAlex ID
- https://openalex.org/W4220878367
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4220878367Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.11947/j.agcs.2022.20210144Digital Object Identifier
- Title
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Decentralized extend information filter for cooperative localization of UUVsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2022Year of publication
- Publication date
-
2022-02-01Full publication date if available
- Authors
-
Zhenqiang Du, Hongzhou Chai, Minzhi Xiang, Fan Zhang, Ziru Huang, ZHU HuaweiList of authors in order
- Landing page
-
https://doaj.org/article/234bfcedbba14e8bb5cb22ff621e9ecbPublisher landing page
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://doaj.org/article/234bfcedbba14e8bb5cb22ff621e9ecbDirect OA link when available
- Concepts
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Filter (signal processing), Computer science, Computer visionTop concepts (fields/topics) attached by OpenAlex
- Cited by
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1Total citation count in OpenAlex
- Citations by year (recent)
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2023: 1Per-year citation counts (last 5 years)
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.establishes | 96 |
| abstract_inverted_index.information | 73 |
| abstract_inverted_index.observation | 109, 156, 170, 181, 205 |
| abstract_inverted_index.traditional | 42, 140, 152 |
| abstract_inverted_index.environment, | 53 |
| abstract_inverted_index.information, | 110 |
| abstract_inverted_index.information. | 206 |
| abstract_inverted_index.localization | 61, 79, 90 |
| abstract_inverted_index.communication | 38, 198 |
| abstract_inverted_index.decentralized | 71, 123 |
| abstract_inverted_index.expansibility | 203 |
| abstract_inverted_index.realized.Each | 94 |
| abstract_inverted_index.observation.The | 193 |
| abstract_inverted_index.out.Theoretical | 144 |
| cited_by_percentile_year.max | 94 |
| cited_by_percentile_year.min | 89 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 6 |
| citation_normalized_percentile.value | 0.44715703 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |