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1、HindawiPublishingCorporationInternationalJournalofDistributedSensorNetworksVolume2014,ArticleID562380,10pageshttp://dx.doi.org/10.1155/2014/562380ResearchArticleCooperativeLocalizationofMulti-UAVsviaDynamicNonparametricBeliefPropagationunderGPSSignalLossConditionJiuqingWa
2、n,LipingZhong,andFanZhangDepartmentofAutomation,BeijingUniversityofAeronauticsandAstronautics,Beijing100191,ChinaCorrespondenceshouldbeaddressedtoJiuqingWan;wanjiuqing@gmail.comReceived21March2013;Accepted22December2013;Published13February2014AcademicEditor:ShijianLiCopyr
3、ight©2014J.Wanetal.ThisisanopenaccessarticledistributedundertheCreativeCommonsAttributionLicense,whichpermitsunrestricteduse,distribution,andreproductioninanymedium,providedtheoriginalworkisproperlycited.Self-localizationiscriticalformanyunmannedaerialvehicles(UAVs)taskss
4、uchasformationflight,pathplanning,andactivitycoordination.Traditionally,UAVcanlocateitselfusingGPScombinedwithsomeinertialsensors.However,duetothecomplexflightenvironmentorfailureoftheGPSreceiver,theUAVmayloseitsGPSsignalandfailtolocateitself,resultingindevastatingconsequ
5、ence.Inthispaper,wewillconsidertheproblemofcooperativelocalizationamongmultipleUAVs,inwhichtheUAVswithfailureofGPSreceivercanhelpeachothertolocatethemselvesthroughmutualinformationexchangedbasedontherelativedistancemeasurements.Specifically,weproposeadynamicNonparametricB
6、eliefPropagation(dNBP)algorithmtocalculatetheposteriordistributionofUAV’spositionconditionedonallobservationsmadeinthewholeUAVsgroup.ThedNBPisanaturalcombinationofNBPwithparticlefiltering,suitablefortreatingwiththenonlinearmodelandhighlynon-Gaussiandistributionsarisingino
7、urapplication.Furthermore,dNBPprovidesthebasisfordistributedalgorithminwhichmessagesareexchangesbetweenneighboringUAVs.Thus,thecomputationalburdenisdistributedacrossUAVs.SimulationsinMatlabenvironmentshowtheeffectivenessofourmethod.1.IntroductionandnormalUAVs,whichhaveava
8、ilableGPSmeasure-ments.WeassumethateachUAVinthegroup,faultorUnmannedaerialvehicles(UAVs)haveattr
