An aerial ammunition ad hoc network collaborative localization algorithm based on relative ranging and velocity measurement in a highly-dynamic topographic structure

Abstract

In the internet of battlefield things, ammunition is becoming networked and intelligent, which depends on location information. Therefore, this paper focuses on the self-organized network collaborative localization of munitions with an aerial three-dimensional (3D) highly-dynamic topographic structure under a satellite denied environment. As for aerial networked munitions, the measurement of munitions is objectively incomplete due to the degenerated and interrupted link of munitions. For this reason, a cluster-oriented collaborative localization method is put forward in this paper. Multidimensional scaling (MDS) was first integrated with a trilateration localization method (TLM) to construct a relative localization algorithm for determining the relative location of a mobile cluster network. The information related to relative velocity was then combined into a collaborative localization framework to devise a TLM-vMDS algorithm. Finally, an iterative refinement algorithm based on scaling by majorizing a complicated function (SMACOF) was employed to effectively eliminate the influence of incomplete link observation on localization accuracy. Compared with the currently available advanced algorithms, the proposed TLM-vMDS algorithm achieves higher localization accuracy and faster convergence for a cluster of extensively networked munitions, and also offers better numerical stability and robustness for high-speed motion models.

Keywords

• Highly-dynamic topographic structure
• MDS
• Relative ranging
• Aerial ammunition ad hoc network