Dilution of Precision as a Geometry Metric for Swarm Relative Localization

Report No. ARL-TR-8200
Authors: Michael L Don
Date/Pages: November 2017; 34 pages
Abstract: Swarms of agents can use range measurements to achieve relative localization. The accuracy of this localization is affected by the geometry of the swarm agents. To characterize the swarm geometry, a metric is needed that relates the geometry to localization accuracy. Such a metric, called Dilution of Precision (DOP), is commonly used for global positioning systems (GPSs). GPS differs from swarm relative localization, however, in that there is an unknown receiver clock bias, the localization is absolute instead of relative, and all of the satellite positions are known. This report derives a DOP metric suitable for swarm relative localization and investigates its utility in several example cases.
Distribution: Approved for public release
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Last Update / Reviewed: November 1, 2017