Constrained Geometry Relative Swarm Localization
Technical Report,01 Aug 2018,30 Aug 2018
US Army Combat Capabilities Development Command Army Research Laboratory Aberdeen Proving Ground United States
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Operating in GPS-denied environments presents many challenges when accurate positioning, navigation, and timing information is required. A simple way of alleviating many of these problems without complex infrastructure is by employing swarms of cooperative agents instead of utilizing solitary individuals. In real-use cases like unmanned aerial vehicle missions or munition delivery, optimum swarm geometries cannot be used because the location of other agents, other equipment, or even terrain obstruct correct positioning. In this report, we develop a high-performance constrained swarm geometry and characterize it based on its Z-dimension standard deviation, position root mean square error, and dilution of precision. We further characterize the Nanotron SwarmBee ranging devices long-range accuracy and performance in a multipath environment. Lastly, we conduct a real-world test of our best constrained geometry and compare its performance to our simulated results.
- Navigation and Guidance