A New Relative Navigation and Localization Algorithm Based on the Nearest Neighbor

摘要

Aimed at the deficiency of TDOA localization algorithm in the relative navigation and the cooperative localization algorithm based on the nearest neighbor localization model, a new relative navigation and localization algorithm based on the nearest neighbor is proposed and designed. The cooperative localization algorithm is studied and improved, which is applied to relative navigation. And the pseudo-measurement, radar bearing angle and covariance matrix formula is deduced renewedly. The algorithm deals with the pseudo-measurement by similar ratio and nearest neighbor rule and avoid the problem such as multi-answer and linearization which are caused by the nonlinear equation. Simulations results show it has better localization and convergence effect, higher stability which is used to relative localization and tracking steadily. Moreover, it is easily practiced in the project.