Distributed Extended Kalman Filtering for Reliable Navigation on Lunar Surface
Ali Hooshmand, Javad Mohammadpour, Heidar Malki, Robert S. Provence · 2011
This paper presents a reliable surface navigation algorithm based on distributed extended Kalman filtering (DEKF) method. The proposed algorithm enables the network of sensors on the lunar surface to act as a collective observer for positioning the rovers or astronauts, making the navigation process more reliable by eliminating the need to a centralized estimator. The performance and effectiveness of the DEKF will be compared to those of an extended Kalman filter (EKF) implemented in a central manner by making use of the simulation data collected from the model of a network of rovers moving on the lunar surface.