TY - GEN
T1 - Research on Collaborative Navigation Algorithm of Factor Graph Based on BP
AU - Li, Huaijian
AU - Jiang, Jin
AU - Wang, Tao
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The standard particle filter (PF) algorithm has the problem of particle diversity loss caused by particle impoverishment and resampling, which makes the particle sample unable to accurately represent the true distribution of the state probability density function. In this paper, a particle sampling method based on Sigma points and a method of classifying particles and recalculating weights based on weights are proposed. Based on the improvement of these two parts, an improved BP cooperative navigation algorithm is proposed. The simulation results show that the navigation error estimated by the improved BP algorithm proposed in this chapter is smaller than that of the traditional NBP algorithm, and the effectiveness of the improved algorithm is verified.
AB - The standard particle filter (PF) algorithm has the problem of particle diversity loss caused by particle impoverishment and resampling, which makes the particle sample unable to accurately represent the true distribution of the state probability density function. In this paper, a particle sampling method based on Sigma points and a method of classifying particles and recalculating weights based on weights are proposed. Based on the improvement of these two parts, an improved BP cooperative navigation algorithm is proposed. The simulation results show that the navigation error estimated by the improved BP algorithm proposed in this chapter is smaller than that of the traditional NBP algorithm, and the effectiveness of the improved algorithm is verified.
KW - belief propagation algorithm
KW - cooperative navigation
KW - factor graph
UR - http://www.scopus.com/inward/record.url?scp=85207823966&partnerID=8YFLogxK
U2 - 10.1109/DOCS63458.2024.10704362
DO - 10.1109/DOCS63458.2024.10704362
M3 - Conference contribution
AN - SCOPUS:85207823966
T3 - 2024 6th International Conference on Data-Driven Optimization of Complex Systems, DOCS 2024
SP - 229
EP - 234
BT - 2024 6th International Conference on Data-Driven Optimization of Complex Systems, DOCS 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Data-Driven Optimization of Complex Systems, DOCS 2024
Y2 - 16 August 2024 through 18 August 2024
ER -