Collaborative Localization-Based Resilient Navigation Fusion

The collaborative localization-based framework is one of the typical approaches used to realize resilient navigation fusion. In this approach, the relative observations from collaborating anchor members are first utilized to solve for the locations of label members who suffer from navigation degradation, and the results are then fused with the local measurements of these label members to realize navigation augmentation. This chapter discusses collaborative localization algorithms. The online estimation of the collaborative localization covariance is investigated. Resilient fusion models and processes for obtaining collaborative localization solutions are introduced with simulated examples.