Shared state selection and data exchange for collaborative navigation using conditionally independent parallel filters
First Claim
1. A method for collaborative navigation, comprising:
- (a) initializing a conditionally independent filter on a local platform;
(b) propagating the conditionally independent filter forward in time;
(c) when a local measurement has been made, updating the conditionally independent filter with the local measurement;
(d) when a common measurement has been made, updating the conditionally independent filter with the common measurement;
(e) determining by a processor whether a remote conditioning node has arrived from a remote platform for conditional update processing;
(f) if a remote conditioning node has arrived, determining by the processor whether the remote conditioning node needs to be fused with a first local conditioning node of the conditionally independent filter;
(g) if the remote conditioning node needs to be fused with the first local conditioning node, performing a node-to-node fusion in the conditionally independent filter to merge the remote conditioning node with the first local conditioning node to produce a merged conditioning node; and
(h) performing a conditional update of the conditionally independent filter.
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Abstract
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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Citations
20 Claims
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1. A method for collaborative navigation, comprising:
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(a) initializing a conditionally independent filter on a local platform; (b) propagating the conditionally independent filter forward in time; (c) when a local measurement has been made, updating the conditionally independent filter with the local measurement; (d) when a common measurement has been made, updating the conditionally independent filter with the common measurement; (e) determining by a processor whether a remote conditioning node has arrived from a remote platform for conditional update processing; (f) if a remote conditioning node has arrived, determining by the processor whether the remote conditioning node needs to be fused with a first local conditioning node of the conditionally independent filter; (g) if the remote conditioning node needs to be fused with the first local conditioning node, performing a node-to-node fusion in the conditionally independent filter to merge the remote conditioning node with the first local conditioning node to produce a merged conditioning node; and (h) performing a conditional update of the conditionally independent filter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A navigation system for a local platform in a collaborative navigation network, the system comprising:
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a dead-reckoning unit onboard the local platform that outputs a navigation solution; a navigation filter in operative communication with the dead-reckoning unit; a communications unit that shares data with one or more remote platforms in the network; and a collaborative navigation processing unit in operative communication with the navigation filter, the collaborative navigation processing unit configured to execute processor readable instructions to perform a method comprising; defining a conditioning node for at least one pair of platforms that includes the local platform and at least one remote platform in the collaborative navigation network; receiving an estimated joint distribution of the conditioning node from the remote platform at the local platform along with new states to be augmented into the navigation filter; performing a node-to-node fusion in the local platform to merge the remote platform'"'"'s estimated joint distribution of the conditioning node with an estimated joint distribution of the conditioning node at the local platform to obtain a fused conditioning node estimate; and performing a conditional update in the navigation filter of the local platform based on the fused conditioning node estimate. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A computer program product, comprising:
a non-transitory computer readable medium having instructions stored thereon executable by a processor to perform a method for collaborative navigation between at least one pair of platforms, the method comprising; defining a conditioning node for the pair of platforms based on local states and prior data measurements of the pair of platforms; generating a mutual measurement at a first platform in the pair of platforms; receiving an estimated joint distribution of the conditioning node from a second platform in the pair of platforms at the first platform along with new states to be augmented into a navigation filter of the first platform, wherein new states to be added to the conditioning node are maintained in a navigation filter of the second platform; performing a node-to-node fusion in the first platform to merge the second platform'"'"'s estimated joint distribution of the conditioning node with an estimated joint distribution of the conditioning node at the first platform to obtain a fused conditioning node estimate; performing a conditional update in the navigation filter of the first platform based on the fused conditioning node estimate, wherein the conditional update is applied to both the first platform'"'"'s current navigation filter and new conditioning nodes states; augmenting the new states from the second platform into the navigation filter of the first platform and removing any unnecessary states from the navigation filter of the first platform; and performing a measurement update in the first platform with the mutual measurement.
Specification