Belief Propagation for Localization Using Inter-Agent Ranging in GPS Denied Environments

摘要

Long duration autonomy in GPS denied environments remains a challenge for high-flying aerial systems. Unlike ground or low flying systems, there are few static features to navigate from. In this paper we consider multi-agent scenario where agents are equipped with inter-agent ranging capabilities that will aid in individual localization. Across the ranging and communication network the agents have varying levels of uncertainty in their positioning. A message passing algorithm is proposed to bound this uncertainty in the system. To localize the agents we derive a localization algorithm that is based on belief propagation which is naturally distributed and efficient. We consider a motion model often seen in GPS-denied scenarios to demonstrate this algorithm in simulation.