Multiple models information fusion algorithm for cooperative localization

Considerable research has been undertaken in the field of estimation theory in relation to the navigation problem. However, most algorithms are designed for single platform. This paper presents current work on the information fusion problem for multiple platform cooperative navigation. On the basis of the scheme which combines the state prediction and the localization circle, the multiple model (MM) algorithm is introduced to calculate the pseudomeasurement and to update the navigation state. A novel MM-based cooperative localization algorithm is presented. The importance of the new approach is that the performance is greatly improved while the alignment of different localization circles is not necessary too.