Networked navigation systems aided by cooperative information sharing are evaluated using flight data from seven uninhabited aerial vehicles. Decentralized estimation architectures are evaluated, and their performance is compared against centralized implementations. It is shown that a flexible covariance intersection-based decentralized implementation is effective, at a fraction of the resources required for a centralized implementation, if resources are put toward ensuring the continued presence of one or more high-quality users in the community.
|Original language||English (US)|
|Number of pages||15|
|Journal||IEEE Transactions on Aerospace and Electronic Systems|
|State||Published - Oct 2016|