7、Resilient Navigation Modelling: Range - Difference Based Approaches

Resilient Navigation Modelling: Range - Difference Based Approaches

1. Introduction

In the field of navigation, achieving resilience through collaboration is a crucial aspect. This involves the use of range - difference measurements to construct observation and error models. These models play a vital role in estimating the position of label members accurately.

2. Observation Matrix Construction

The observation matrix of the (i^{th}) label member, denoted as (\mathbf{H}_{i}), is formed by accumulating direction cosine vectors related to corresponding collaborative anchor members.

2.1 Direction Cosine Vectors

The direction cosine vector (\mathbf{h} {i\rightarrow j,j + 1}) is defined as:
[
\mathbf{h}