Compensation Algorithm Based on Estimation State for Transmission Delay in Cooperative Localization  

作　　者：王雷钢 张涛 杨伟锋 

机构地区：[1]Department of Automation,Tsinghua University [2]Luoyang Electronic Equipment Test Center of China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2014年第1期91-98,共8页南京航空航天大学学报（英文版）

基　　金：Supported by the National Basic Research Program of China(2010CB731800)

摘　　要：In order to maximize the utilization of the observation information in the cooperative localization,a compensation algorithm based on the estimation state is presented for transmission delay.Under the framework of the Kalman filter,two different processes of state estimating with and without transmission delay are investigated and contrasted.The expression of difference quantity caused by transmission delay is derived.It is used to compensate the present estimation state instead of the observed information compensation.According to the characteristics of state transition matrix,an equivalent expression of which successively impacts on the covariance factor in delay time is obtained.The simulation results show that the present estimated state is effectively corrected by transmission information and the relevance among agents is accurately updated.As a result,a higher positioning accuracy is achieved.Meanwhile,the consumption of recording and multiplication of the state transition matrix is saved.In order to maximize the utilization of the observation information in the cooperative localization, a com- pensation algorithm based on the estimation state is presented for transmission delay. Under the framework of the Kalman filter, two different processes of state estimating with and without transmission delay are investigated and contrasted. The expression of difference quantity caused by transmission delay is derived. It is used to compensate the present estimation state instead of the observed information compensation. According to the characteristics of state transition matrix, an equivalent expression of which successively impacts on the covariance factor in delay time is obtained. The simulation results show that the present estimated state is effectively corrected by transmis- sion information and the relevance among agents is accurately updated. As a result, a higher positioning accuracy is achieved. Meanwhile, the consumption of recording and multiplication of the state transition matrix is saved.

关 键 词：cooperative localization Kalman filter transmission delay covariance factor 

分 类 号：U674.7[交通运输工程—船舶及航道工程]