Performance Analysis of Cooperative Positioning System

Fei Yu, Shiwei Fan, Qian Li, Pan Jiang, Zicheng Wang

Abstract:	In order to study the positioning performance of the Unmanned Surface Vehicle (USV) coordinated positioning system with distance as the observation quantity, this paper analyzes the degree of observability of the system. Because the relative motion relation between the leader USV and the follower USV is closely related to the observability of the follower USV's estimated states, it directly affects the positioning performance of the cooperative positioning system. This paper established a new cooperative coordinate system, and in the coordinate system of leader-follower USV movement model is derived, based on leader-follower USV relative distance observed quantity analysis of master-slave USV co-location system observability. Both the simulation test and the USV water test verify the conclusion analyzed in this paper.
Published in:	2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 23 - 26, 2018 Hyatt Regency Hotel Monterey, CA
Pages:	510 - 515
Cite this article:	Yu, Fei, Fan, Shiwei, Li, Qian, Jiang, Pan, Wang, Zicheng, "Performance Analysis of Cooperative Positioning System," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2018, pp. 510-515. https://doi.org/10.1109/PLANS.2018.8373420
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