Topology-optimisation collaborative network navigation based on constrained Kalman filter

This paper proposes a topology-optimisation collaborative network navigation method based on Constrained Kalman Filter, which incorporates the inter-nodes ranges and optimal navigation topology to enhance the navigation performance of whole swarm. Firstly, a distributed collaborative navigation algorithm for rank-defect free networks is proposed, which only requires relative ranges from communication devices and node’s rough position estimation from inertial navigation system (INS). Then, comprehensive analyses of factors that influence collaborative navigation accuracy are investigated. Based on the results, the topology-optimisation strategy for collaborative navigation is established. Finally, simulations validate the effectiveness of the proposed collaborative network navigation method.