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Cooperative Localization of a GPS-Denied UAV Using Direction-of-Arrival Measurements.
- Source :
- IEEE Transactions on Aerospace & Electronic Systems; Jun2020, Vol. 56 Issue 3, p1966-1978, 13p
- Publication Year :
- 2020
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189251
- Volume :
- 56
- Issue :
- 3
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Aerospace & Electronic Systems
- Publication Type :
- Academic Journal
- Accession number :
- 143743916
- Full Text :
- https://doi.org/10.1109/TAES.2019.2942704