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Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory
Cooperative localization (CL) is considered a promising method for underwater localization with respect to multiple autonomous underwater vehicles (multi-AUVs). In this paper, we proposed a CL algorithm based on information entropy theory and the probability hypothesis density (PHD) filter, aiming t...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2017
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5677013/ https://www.ncbi.nlm.nih.gov/pubmed/28991191 http://dx.doi.org/10.3390/s17102286 |
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author | Zhang, Lichuan Wang, Tonghao Zhang, Feihu Xu, Demin |
author_facet | Zhang, Lichuan Wang, Tonghao Zhang, Feihu Xu, Demin |
author_sort | Zhang, Lichuan |
collection | PubMed |
description | Cooperative localization (CL) is considered a promising method for underwater localization with respect to multiple autonomous underwater vehicles (multi-AUVs). In this paper, we proposed a CL algorithm based on information entropy theory and the probability hypothesis density (PHD) filter, aiming to enhance the global localization accuracy of the follower. In the proposed framework, the follower carries lower cost navigation systems, whereas the leaders carry better ones. Meanwhile, the leaders acquire the followers’ observations, including both measurements and clutter. Then, the PHD filters are utilized on the leaders and the results are communicated to the followers. The followers then perform weighted summation based on all received messages and obtain a final positioning result. Based on the information entropy theory and the PHD filter, the follower is able to acquire a precise knowledge of its position. |
format | Online Article Text |
id | pubmed-5677013 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2017 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-56770132017-11-17 Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory Zhang, Lichuan Wang, Tonghao Zhang, Feihu Xu, Demin Sensors (Basel) Article Cooperative localization (CL) is considered a promising method for underwater localization with respect to multiple autonomous underwater vehicles (multi-AUVs). In this paper, we proposed a CL algorithm based on information entropy theory and the probability hypothesis density (PHD) filter, aiming to enhance the global localization accuracy of the follower. In the proposed framework, the follower carries lower cost navigation systems, whereas the leaders carry better ones. Meanwhile, the leaders acquire the followers’ observations, including both measurements and clutter. Then, the PHD filters are utilized on the leaders and the results are communicated to the followers. The followers then perform weighted summation based on all received messages and obtain a final positioning result. Based on the information entropy theory and the PHD filter, the follower is able to acquire a precise knowledge of its position. MDPI 2017-10-08 /pmc/articles/PMC5677013/ /pubmed/28991191 http://dx.doi.org/10.3390/s17102286 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhang, Lichuan Wang, Tonghao Zhang, Feihu Xu, Demin Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title | Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title_full | Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title_fullStr | Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title_full_unstemmed | Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title_short | Cooperative Localization for Multi-AUVs Based on GM-PHD Filters and Information Entropy Theory |
title_sort | cooperative localization for multi-auvs based on gm-phd filters and information entropy theory |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5677013/ https://www.ncbi.nlm.nih.gov/pubmed/28991191 http://dx.doi.org/10.3390/s17102286 |
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