Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.Firs...Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.First of all,the joint posterior distribution of all the terminals＇ positions is represented by factor graph.Because of the nonlinearity between the positions and time-of-arrival（TOA） measurement,messages cannot be obtained in closed forms by directly using the sum-product algorithm on factor graph.To this end,the Euclidean norm is approximated by Taylor expansion.Then,all the messages on the factor graph can be derived in Gaussian forms,which enables the terminals to transmit means and covariances.Finally,the impact of major error sources on the navigation performance are evaluated by Monte Carlo simulations,e.g.,range measurement noise,priors of position uncertainty and velocity noise.Results show that the proposed algorithm outperforms the extended Kalman filter and cooperative extended Kalman filter in both static and mobile scenarios of the JTIDS.展开更多
During the war between Liao Dynasty(907-1125)and Northern Song Dynasty(960-1127),there was a classic battle that happened in Yanmen Pass(located in today’s Dai County,Xinzhou,Shanxi Province,China).It was a well know...During the war between Liao Dynasty(907-1125)and Northern Song Dynasty(960-1127),there was a classic battle that happened in Yanmen Pass(located in today’s Dai County,Xinzhou,Shanxi Province,China).It was a well known battle of ancient China because a commander of the Song army named Yang Ye(?-986)was really famous in both classical Chinese fictions and Chinese war history.He is the early protagonist of a famous Chinese classic fiction named The Romance of the Yang family’s generals(written in the 16th century,Ming Dynasty of China).The story of his family also appears in other novels.Besides,in history,he was a general who was active in the early stages of the war between Liao Dynasty and Northern Song Dynasty.The battle of Yanmen Pass(980)was one of the most important battles of Yang’s military career.His combat style especially his cavalry tactic can be summarized through researching this battle.展开更多
基金supported by the National Natural Science Foundation of China(6120118161471037+1 种基金61571041)the Foundation for the Author of National Excellent Doctoral Dissertation of China(201445)
文摘Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.First of all,the joint posterior distribution of all the terminals＇ positions is represented by factor graph.Because of the nonlinearity between the positions and time-of-arrival（TOA） measurement,messages cannot be obtained in closed forms by directly using the sum-product algorithm on factor graph.To this end,the Euclidean norm is approximated by Taylor expansion.Then,all the messages on the factor graph can be derived in Gaussian forms,which enables the terminals to transmit means and covariances.Finally,the impact of major error sources on the navigation performance are evaluated by Monte Carlo simulations,e.g.,range measurement noise,priors of position uncertainty and velocity noise.Results show that the proposed algorithm outperforms the extended Kalman filter and cooperative extended Kalman filter in both static and mobile scenarios of the JTIDS.
文摘During the war between Liao Dynasty(907-1125)and Northern Song Dynasty(960-1127),there was a classic battle that happened in Yanmen Pass(located in today’s Dai County,Xinzhou,Shanxi Province,China).It was a well known battle of ancient China because a commander of the Song army named Yang Ye(?-986)was really famous in both classical Chinese fictions and Chinese war history.He is the early protagonist of a famous Chinese classic fiction named The Romance of the Yang family’s generals(written in the 16th century,Ming Dynasty of China).The story of his family also appears in other novels.Besides,in history,he was a general who was active in the early stages of the war between Liao Dynasty and Northern Song Dynasty.The battle of Yanmen Pass(980)was one of the most important battles of Yang’s military career.His combat style especially his cavalry tactic can be summarized through researching this battle.
