[国际无人机进展杂志]Dynamic Localization of Air-Ground_fulltext.pdf

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1、Chapter14:DynamicLocalizationofAir-GroundWirelessSensorNetworks1ThisChapterpresentsanair-groundlocalizationapproachinwhichgroundnodesincollaborationwithunmannedaerialvehicles(UAVs)generateop-timalpositionestimates.Thegroundnodessupportlocalsensingandcommunication

2、,whileunmannedaerialvehiclesequippedwithGPSmaybeusedtolocalizethegroundnodesnetworkabsolutely.14.1IntroductionTheroleofautonomoussurveillancehasproventobeimportantandappli-cabletoawiderangeofapplicationssuchastargetlocation,mapbuilding,bordersecurity,pollutionmon

3、itoringandcontrol,andbattledamageas-sessment.UAVsfitintothescenarioofautonomoussurveillanceperfectlyastheyinvolvealowriskfactorandfacilitatetechnologicaladvancements,makingtheirusefeasibleinrealworldscenarios.UAVsaregenerallyclas-sifiedbytheirflightaltitude,launc

4、handrecoverymethodsasdetailed[23].UAVs,togetherwithrandomlydeployedstationaryunattendedgroundsensors(UGS)canfurtherenhancetheperformanceoftheautonomoussurveillancetasksmentionedabove.SincetheinformationcollectedfromUGSisoflimiteduseifnoinformationaboutthesensorpo

5、sitionisavail-able,thetaskoflocalizingthesensornodesisofprimeimportanceforsen-sornetworkapplications.ThisChapterdiscussesanair-groundlocalizationschemeinwhich(UGS)nodes,withtheaidofUAVshavingonboardGPS,generatetheiroptimalpositionestimates.Localizationisclassifie

6、dintwocategories:relativeandabsolutelocal-ization.Inrelativelocalizationthesensornodesarelocalizedusingthedis-tancesmeasuredamongthenodeswithrespecttoanarbitraryinternalco-1WrittenbyP.Dang,F.L.Lewis,D.O.Popa.Thisworkwassupportedinpartbythefollowinggrants:NSFGrant

7、IIS-0326505,NSFGrantCNS-0421282,AROGrantM-47928-CI-RIP-05075-1andNationalInstrumentLeadUserGrant.KimonP.Valavanis(ed.),AdvancesinUnmannedAerialVehicles,431–453.©2007Springer.PrintedintheNetherlands.432P.Dang,F.L.Lewis,D.O.Popaordinatesystem.Absolutelocalization,o

8、ntheotherhandlocalizesthenetworkwithrespecttoaknownspecifiedcoordinatesystem.Animportantdevelopmentisanair-groundlocalizationscheme,whichperformsrelativeandabs