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Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements
April 12, 2018 Β· Declared Dead Β· π IEEE Transactions on Aerospace and Electronic Systems
"No code URL or promise found in abstract"
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Authors
James S. Russell, Mengbin Ye, Brian D. O. Anderson, Hatem Hmam, Peter Sarunic
arXiv ID
1804.04317
Category
cs.RO: Robotics
Cross-listed
eess.SY
Citations
50
Venue
IEEE Transactions on Aerospace and Electronic Systems
Last Checked
5 months ago
Abstract
A GPS-denied UAV (Agent B) is localised through INS 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.
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