Dilution of Precision as a Geometry Metric for Swarm Relative Localization
Technical Report,01 Aug 2017,31 Aug 2017
US Army Research Laboratory Aberdeen Proving Ground United States
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Swarms of agents can use range measurements to achieve relative localization. The accuracy of this localization is affected by the geometry of the swarm agents. To characterize the swarm geometry, a metric is needed that relates the geometry to localization accuracy. Such a metric, called Dilution of Precision DOP, is commonly used for global positioning systems GPSs. GPS differs from swarm relative localization, however, in that there is an unknown receiver clock bias, the localization is absolute instead of relative, and all of the satellite positions are known. This report derives a DOP metric suitable for swarm relative localization and investigates its utility in several example cases.
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