Open AccessEstimation of dynamically changing navigation parameters of the group of autonomous vehicles
Author(s) -
Leonid Korolev
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1745/1/012037
Subject(s) - kalman filter , covariance , computer science , group (periodic table) , extended kalman filter , covariance matrix , covariance intersection , filter (signal processing) , fast kalman filter , invariant extended kalman filter , control theory (sociology) , navigation system , computer vision , algorithm , artificial intelligence , mathematics , statistics , control (management) , chemistry , organic chemistry
The estimates of natural and mutual coordinates and speeds of movement of autonomous vehicles moving the structure have been integrated. Cases of application of navigation systems of different accuracy for an arbitrary number of sets in a group are considered. There are given expressions for covariance matrices of integration errors in two ways. The first method is formulated based on a Kalman vector filter. The second algorithm consists of a two-step evaluation procedure involving a static evaluation and a Kalman filter. Results of comparative analysis of efficiency of the considered methods are presented.