A Measurement Scheduling Method for Multi-vehicle Cooperative Localization Considering State Correlation

Haigen Min, Yao Li, Xia Wu, Wuqi Wang, Lisha Chen, Xiangmo Zhao

Abstract: Highlights•Cooperative localization with limited communication and computing resources•Loose communication coupling cross-covariance matrix update strategy•Proposal of constant and dynamic period measurement scheduling method•Derivation of a period weight function to adjust period dynamically•The method reduces resource consumption and improves localization accuracy