Compartmentalized Covariance Intersection: A Novel Filter Architecture for Distributed Localization
Adam Wiktor Stephen Rock Adam Wiktor Stephen Rock
This paper introduces the Compartmentalized Covariance Intersection (CCI) algorithm, a consistent technique to fuse measurements in cooperative navigation networks. The algorithm reduces the excess conservatism of standard Covariance Intersection (CI) by assuming that correlation is only present within each measurement stream and not across the different sources. This assumption allows the sources...