Cooperative fault detection and recovery in the GNSS positioning of mobile agent swarms based on relative distance measurements

• DOI: 10.1016/j.cja.2021.07.011
• Publication Date: 2021-09-15T06:27:30Z
• Authors: Qifeng CHEN; Yunhe MENG; Song LI; Yuxin LIAO
• Keywords: Robustness

Relative measurements are exploited to cooperatively detect and recover faults in the positioning of Mobile Agent (MA) Swarms (MASs). First, a network vertex fault detection method based on edge testing is proposed. For each edge, property that has functional relationship with properties its two vertices measured tested. Based results network, maximum likelihood principle used identify sources. Second, an distance noncentral chi-square distribution developed for detecting Global Navigation Satellite System (GNSS) MASs. Third, recovery strategy MASs measurement provided. The effectiveness proposed methods validated by simulation case which MAS passes through GNSS spoofing zone. conducive increasing robustness complex environments. main novelties include following: (A) concrete probability analysis rather than simple majority voting, (B) relation detectability recoverability structure relative first disclosed.