典型文献
A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments
文献摘要：
In this paper,we present a distributed framework for the lidar-based relative state esti-mator which achieves highly accurate,real-time trajectory estimation of multiple Unmanned Aerial Vehicles(UAVs)in GPS-denied environments.The system builds atop a factor graph,and only on-board sensors and computing power are utilized.Benefiting from the keyframe strategy,each UAV performs relative state estimation individually and broadcasts very partial information without exchanging raw data.The complete system runs in real-time and is evaluated with three experiments in different environments.Experimental results show that the proposed distributed approach offers comparable performance with a centralized method in terms of accuracy and real-time perfor-mance.The flight test demonstrates that the proposed relative state estimation framework is able to be used for aggressive flights over 5 m/s.
文献关键词：
中图分类号：
作者姓名：
Hongming SHEN;Qun ZONG;Hanchen LU;Xuewei ZHANG;Bailing TIAN;Lei HE
作者机构：
School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;Institute of Field Engineering,Army Engineering University of PLA,Nanjing 210007,China
文献出处：
引用格式：
[1]Hongming SHEN;Qun ZONG;Hanchen LU;Xuewei ZHANG;Bailing TIAN;Lei HE-.A distributed approach for lidar-based relative state estimation of multi-UAV in GPS-denied environments)[J].中国航空学报（英文版）,2022(01):59-69
A类：
keyframe,broadcasts
B类：
distributed,approach,lidar,relative,state,estimation,GPS,denied,environments,In,this,paper,present,framework,mator,which,achieves,highly,accurate,real,trajectory,multiple,Unmanned,Aerial,Vehicles,UAVs,system,builds,atop,graph,only,board,sensors,computing,power,are,utilized,Benefiting,from,strategy,each,performs,individually,very,partial,information,without,exchanging,raw,data,complete,runs,evaluated,three,experiments,different,Experimental,results,show,that,proposed,offers,comparable,performance,centralized,method,terms,accuracy,test,demonstrates,be,used,aggressive,flights,over
AB值：
0.592873
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