The invention discloses a network navigation optimal state
estimation method and
system, and relates to the technical field of network navigation. The method is provided for overcoming the defects of existing research in the aspects of complex dynamic
system modeling, multi-source
information fusion processing and the like. The technical key points are as follows: network navigation is an important theoretical framework for researching a multi-agent
system collaborative navigation positioning problem,
system dynamics and measurement behaviors are represented mainly by means of a network
graph theory, and the optimal state
estimation of the system is obtained by combining a
network topology structure and fusing
processing measurement information. According to the method, a super
network model is provided to describe a
coupling relationship among multiple states of an
intelligent agent,
system dynamics constraint and measurement information are converted into a structured Fischer information matrix and an information vector, and neat corresponding relationships exist between the structured Fischer information matrix and the information vector and a
network topology; secondly, four optimal state
estimation algorithms are deduced based on a Cramer-Rao lower bound inequality, the four optimal state estimation algorithms are a centralized
algorithm, a decentralized
algorithm and a recursive and
hybrid algorithm with a
distributed structure, and the algorithm processes can be visualized through a fusion rule of network information. Finally, numerical
simulation analysis verifies the feasibility of the model and the algorithm provided by the invention.