Observability Conditions for Switching Sensing Topology for Cooperative Localization
Anusna Chakraborty, Sohum Misra, Rajnikant Sharma, Clark N. Taylor · Unmanned Systems · 2017
In this paper, we solve a discrete-time bearing-only cooperative localization problem for a team of autonomous vehicles with a special focus on switching sensing topology. A centralized Extended Kalman Filter (EKF) is used for jointly estimating position and heading of all the vehicles using local motion and relative bearing measurements. We derive discrete-time conditions for switching relative sensing topology. Furthermore, we use cooperative synchronization for generating vehicle paths that satisfy the observability conditions. The conditions are verified through simulation and experimental results.