Cooperative Positioning Method of a Multi-UAV Based on an Adaptive Fault-Tolerant Federated Filter.

Pengfei Zhang, Zhenhua Ma, Yin He, Yawen Li, Wenzheng Cheng

Open access · goldAbstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

3.8field-weighted citation impact, top 6% of its field

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed, 5 citations in OpenAlex.

No citing paper in PubMed yet.

4 · The record

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PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

5 authors at 1 institution in 1 country.

Pengfei ZhangSchool of Aerospace Engineering, North University of China, Taiyuan 030051, China.

Zhenhua MaSchool of Aerospace Engineering, North University of China, Taiyuan 030051, China.

Yin HeSchool of Aerospace Engineering, North University of China, Taiyuan 030051, China.

Yawen LiSchool of Aerospace Engineering, North University of China, Taiyuan 030051, China.

Wenzheng ChengIntelligent Weapon Research Institute, North University of China, Taiyuan 030051, China.

North University of China · CN

Funding

the National Natural Science Foundation of China 51909245the Natural Science Foundation of Shanxi Province, China 202103021224182

6 · The paper itself

Abstract

Aiming at the problem of the low cooperative positioning accuracy and robustness of multi-UAV formation, a cooperative positioning method of a multi-UAV based on an adaptive fault-tolerant federated filter is proposed. Combined with the position of the follower UAV and leader UAV, and the relative range between them, a cooperative positioning model of the follower UAV is established. On this basis, an adaptive fault-tolerant federated filter is designed. Fault detection and isolation technology are added to improve the positioning accuracy of the follower UAV and the fault tolerance performance of the filter. Meanwhile, the measurement noise matrix is adjusted by the adaptive information allocation coefficient to reduce the impact of undetected fault information on the sub-filter and global estimation accuracy. The simulation results show that the adaptive fault-tolerant federated algorithm can greatly improve the positioning accuracy, which is 83.4% higher than that of the absolute positioning accuracy of a single UAV. In the case of a gradual fault, the method has a stronger fault-tolerant performance and reconstruction performance.

Indexed as

adaptive fault-tolerant federated filtercooperative positioningfault-tolerant performancemulti-UAV formation

Identifiers

PMID37960523

DOI10.3390/s23218823

PMCPMC10650770

OpenAlexW4388106590

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.