论文标题
使用态度耦合范围测量的多代理系统中的相对位置估计
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
论文作者
论文摘要
在可能受到GPS有限的环境中，准确估算机器人相对于彼此相对的位置的能力对于执行协作任务至关重要。由于技术（例如Ultra-Wideband Radio）的技术，可以以低成本获得代理范围的测量值。但是，使用多代理系统中范围测量的三维相对位置估计的任务遭受了不可观察的损害。该字母为相对位置的可观察性提供了足够的条件，并使用仅具有范围测量值，加速度计，速率陀螺和磁力计的简单框架来满足条件。该框架已在模拟和实验中进行了测试，其中使用便宜的现成硬件实现了40-50 cm的定位精度。
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to technologies such as ultra-wideband radio. However, the task of three-dimensional relative position estimation using range measurements in multi-agent systems suffers from unobservabilities. This letter presents a sufficient condition for the observability of the relative positions, and satisfies the condition using a simple framework with only range measurements, an accelerometer, a rate gyro, and a magnetometer. The framework has been tested in simulation and in experiments, where 40-50 cm positioning accuracy is achieved using inexpensive off-the-shelf hardware.
