Collaborative Geometry Optimization in Resilient Navigation

The geometry of the collaborating partners is one of the factors that influence the effectiveness of collaborative resilient navigation. In this chapter, an improved geometric dilution of precision is introduced to quantitatively evaluate geometric configurations in collaborative resilient navigation fusion. The influence of geometry on the accuracy of collaborative resilient navigation fusion is discussed in both the GNSS-augmented and GNSS-denied situations. Geometry optimization algorithms based on a geometric analysis method and an algebraic search method are proposed, with simulated examples.