A GPS-denied unmanned aerial vehicle (UAV) (Agent B) is localized through inertial navigation system alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals’ direction of arrival with respect to Agent B's inertial navigation frame. Semidefinite programming and the orthogonal Procrustes algorithm are employed, and accuracy is improved through maximum likelihood estimation. The method is validated using flight data and simulations. A three-agent extension is explored.
Cooperative Localization of a GPS-Denied UAV Using Direction-of-Arrival Measurements
IEEE Transactions on Aerospace and Electronic Systems ; 56 , 3 ; 1966-1978
01.06.2020
1273564 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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