This paper presents a leader-follower cooperative navigation framework for UAV localization, facilitated by ground anchors, wherein distance between UAVs is measured. Concurrently, a novel model is proposed for distance and angle measurement, introduced to reduce nonlinear errors in the measurement model, and further minimize the minimum quantity of required anchors. Simulation experiments demonstrate that this algorithm can maintain precise cooperative state estimations while the UAV swarm executes time-invariant formation movements, and remarkably, only requires a single ground anchor.
Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation
Lect. Notes Electrical Eng.
Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023
Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control ; Chapter : 28 ; 319-330
2024-06-18
12 pages
Article/Chapter (Book)
Electronic Resource
English
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