Abstract
Range-only cooperative localization for formations of projectiles is investigated using extended and unscented Kalman filters. Observability for range only cooperative localization is reviewed. Consequences of observability allow the user to choose many features of the localization scheme including number of measurements, ground references, and required on-board sensing. Several Kalman filters are designed including centralized filters using 3 degree of freedom plant models using both extended and unscented schemes, and decentralized unscented Kalman filters using 3 degree of freedom plant models. Results are shown for several scenarios to illustrate the effectiveness of each estimation scheme.
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