Decentralized Collaborative Localization Algorithm Based on Covariance Propagation

摘要

We present a decentralized cooperative localization algorithm based on covariance propagation. The proposed algorithm solves the problem that decentralized collaborative localization's accuracy. In this paper, the correlation of localization errors between different platforms is considered. The transfer equation of covariance between two cooperative localization is derived based on the Kalman filter. A method to calculate the covariance matrix based on the state recursive coefficient matrix is presented, and a decentralized cooperative localization system is designed. The simulation results show that the decentralized collaborative localization algorithm's accuracy is equivalent to that of the centralizxd collaborative localization algorithm. The collaborative localization algorithm can effectively reduce distance over-correction after considering the correlation of localization errors.