Sparse Gaussian belief propagation method for UAV swarm based on node message optimization

doi:10.1016/j.measurement.2025.119635

Sparse Gaussian belief propagation method for UAV swarm based on node message optimization

2025-11-10

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DOI：10.1016/j.measurement.2025.119635

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• Established a framework for evaluating UAV positioning under dynamic topology changes. • Considered coupling effects of ranging errors, prior errors, and UAV geometry. • Developed an algorithm to optimize high-confidence measurement selection. • Reconstructed the factor graph with optimal nodes for cooperative positioning. • Applied sparse belief propagation to enhance accuracy and reduce complexity.

Sparse Gaussian belief propagation method for UAV swarm based on node message optimization

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