A Multi - platform Cooperative Localization Method Based on Dead Reckoning and Particle Filtering

A multi-node cooperative localization method is proposed based on dead reckoning and particle filter, which can enhance the robustness and accuracy of the whole localization network. Only one reference node is needed to conduct the position estimation of the unknown node. A cooperative navigation network is constructed using the navigation information of each node, such as unmanned aerial vehicles, ground vehicles, unmanned platforms and even dismounted soldiers etc. Each node is required to share navigation and positioning information. And when some of the nodes are disabled under circumstances such as GPS failure or system malfunction, other nodes can provide them with cooperative localization capability to improve the navigation robustness of the whole localization system.