Application of Multiple Models Algorithm to Cooperative Localization

This paper introduces the current work on the information fusion problem for multiple platform cooperative navigation. On the basis of combining the state prediction with the localization circle, the multiple model (MM) algorithm is presented to calculate the pseudomeasurement and to update the navigation state. A novel MM-based cooperative localization algorithm is put foward. The importance of the new approach is that the performance is greatly improved while the alignment of different localization circles is not necessary.