关键字：Autonomous Vehicle; Virtual Satellite; Simultaneous Localization and Mapping (SLAM)

摘要：The main problem with autonomous navigation system that uses GPS is the satellite outages and the mapping of the ambience in unknown environment. Techniques will be presented to increase position accuracy and navigation robustness in unknown environment by means of collaborative navigation. When vehicle one is navigating, lines of sight to satellites will often be blocked, however, vehicle two at different locations can have different sets of visible satellites and act as virtual satellite. Through collaboration, the satellite information can be shared between vehicles; then, better navigation performance will be achieved. At the same time, vehicle one can map its environment and locate itself accurately even when GPS signal is artificially broken. Simulation results indicate increased accuracy when using the method under investigation. Collaborative autonomous navigation can help several relatively simple vehicles achieve the same performance as expensive and complex platforms.

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