Receding horizon trajectory optimization in opportunistic navigation environments
Receding horizon trajectory optimization in opportunistic navigation environments
复制标题
机会导航环境中的后退地平线轨迹优化
DOI：
10.1109/taes.2014.140022
复制
发表时间：
2015
影响因子：
4.4
通讯作者：
T. Humphreys
中科院分区：
文献类型：
--
作者：
Z. Kassas;T. Humphreys
考虑了机会导航环境下最优信息收集的滚动时域轨迹优化问题。假设接收器被丢弃在由多个机会信号（SOP）发射器组成的环境中。接收器具有关于其自身状态和SOP的状态的最小先验知识。接收机从SOP中提取伪距观测值。接收器的目标是建立一个高保真的信号景观地图，同时在空间和时间上将自己定位在这个地图内。假设接收机可以控制它的机动，考虑以下两个问题。首先，建立了环境完全可观测的最小条件。结果表明，接收机控制的机动减少了最小的先验信息的环境所需的完整的可观测性。第二，规定了接收器应该穿过的轨迹。为此，一个一步向前看（贪婪）的战略相比，多步向前看（滚动时域）的战略。由于滚动时域策略的限制和实现的改进，在地图质量和时空定位精度进行了量化。与滚动时域策略的计算负担进行了讨论。
Receding horizon trajectory optimization for optimal information gathering in opportunistic navigation environments is considered. A receiver is assumed to be dropped in an environment consisting of multiple signals of opportunity (SOPs) transmitters. The receiver has minimal a priori knowledge about its own states and the SOPs' states. The receiver draws pseudorange observations from the SOPs. The receiver's objective is to build a high-fidelity signal landscape map while simultaneously localizing itself within this map in space and time. Assuming that the receiver can control its maneuvers, the following two problems are considered. First, the minimal conditions under which the environment is completely observable are established. It is shown that receiver-controlled maneuvers reduce the minimal a priori information about the environment required for complete observability. Second, the trajectories that the receiver should traverse are prescribed. To this end, a one-step look-ahead (greedy) strategy is compared with a multistep look-ahead (receding horizon) strategy. The limitations and achieved improvements in the map quality and space-time localization accuracy due to the receding horizon strategy are quantified. The computational burden associated with the receding horizon strategy is also discussed.