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A solution for the attitude determination of three-vehicle heterogeneous formations

机译：三车非均质编队姿态确定的解决方案

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This paper proposes a solution to a new attitude determination problem for a three-vehicle formation, where there are restrictions on the detection of other vehicles. Vision-based sensors are considered, which measure line-of-sight (LOS) vectors between different vehicles and inertial vectors that can vary according to the vehicle. There is a constraint on the LOS vectors which are only measured in relation to a chief vehicle. Moreover, each vehicle can measure only one inertial vector. The solution for the different attitude relations is devised geometrically, making use of a multi-stage process. First, two candidates for the relative attitude of each branch are determined. Then, these relative attitude candidates are used to compute inertial attitude candidates for the chief vehicle. The comparison between these results disambiguates the problem, which in general has a unique solution. There are some degenerate solutions, which are also determined. Finally, simulations are carried out considering noise in the sensors. The results are coherent with state-of-the-art approaches to similar problems. (C) 2019 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种针对三车编队的新姿态确定问题的解决方案，该问题在其他车辆的检测上受到限制。考虑了基于视觉的传感器，该传感器测量不同车辆之间的视线（LOS）向量以及根据车辆而变化的惯性向量。对仅相对于主要车辆测量的LOS矢量存在约束。此外，每辆车只能测量一个惯性矢量。针对不同姿态关系的解决方案是通过多阶段过程进行几何设计的。首先，确定每个分支的相对态度的两个候选者。然后，这些相对姿态候选被用于计算主车辆的惯性姿态候选。这些结果之间的比较消除了该问题的歧义，该问题通常具有唯一的解决方案。有一些简并解也已确定。最后，在考虑传感器噪声的情况下进行仿真。结果与解决类似问题的最新方法是一致的。 （C）2019 Elsevier Masson SAS。版权所有。

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