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Shared state selection and data exchange for collaborative navigation using conditionally independent parallel filters
Shared state selection and data exchange for collaborative navigation using conditionally independent parallel filters
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机译:使用条件独立的并行过滤器进行共享导航的共享状态选择和数据交换
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摘要
A method for collaborative navigation comprises initializing a conditionally independent filter on a local platform, propagating the conditionally independent filter forward in time, and when a local measurement has been made, updating the conditionally independent filter with the local measurement. When a common measurement has been made, the conditionally independent filter is updated with the common measurement, and a determination is made whether a remote conditioning node has arrived from a remote platform. If a remote conditioning node has arrived, a determination is made whether the remote conditioning node needs to be fused with a local conditioning node of the conditionally independent filter. If the remote conditioning node needs to be fused, a node-to-node fusion is performed in the conditionally independent filter to merge the remote conditioning node with the local conditioning node to produce a merged conditioning node. A conditional update of the conditionally independent filter is then performed.
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