Inter-Vehicle Measurement Optimization for Cooperative Navigation
Andrew Kondrath, Radiance Technologies Inc.; Adam Rutkowski, DoD AFRL
It has been shown that dead reckoning navigation accuracy of a group of vehicles can be improved when inter-vehicle range measurements are provided to the navigation filter. The goal of this work was to determine the optimal times to take range measurements between a pair of vehicles traveling to respective goal locations. The objective was to reduce the amount of inter-vehicle communication required by reducing the number of inter-vehicle measurements in a manner that has minimal impact on the final position estimation error. A covariance trace reduction metric was developed to determine the benefit of a single range measurement given the vehicle state and corresponding covariance geometries. This metric was then used as the basis for an algorithm to determine when to take a range measurement. Simulations were performed to compare the final position estimation errors with periodic range measurements taken at 0.1, 1, and 10 Hz to aperiodic measurements taken based on the covariance trace metric. It was shown that the aperiodic measurements can achieve a better navigation accuracy than periodic systems with more measurements.