Cooperative Localization of a GPS-Denied UAV Using Direction-of-Arrival Measurements

Russell James S.; Ye Mengbin; Anderson Brian D. O.; Hmam Hatem; Sarunic Peter

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Cooperative Localization of a GPS-Denied UAV Using Direction-of-Arrival Measurements

机译：使用到达方向测量的GPS拒绝UAV的合作定位

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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.

机译：GPS拒绝的无人驾驶空中车辆（UAV）（Agent B）是通过惯性导航系统对准的借助附近的GPS的UAV（Agent A）定位，该UAV（代理A）在几个时间瞬间广播其位置。代理B测量代理B的惯性导航框架的信号'到达方向。采用SEMIDEFINITE编程和正交的PROGRUSTES算法，通过最大似然估计来提高精度。使用飞行数据和模拟验证该方法。探索了三个代理延期。

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《IEEE Transactions on Aerospace and Electronic Systems》 |2020年第3期|1966-1978|共13页
作者
Russell James S.; Ye Mengbin; Anderson Brian D. O.; Hmam Hatem; Sarunic Peter;
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Australian Natl Univ Res Sch Elect Energy & Mat Engn Canberra ACT 2601 Australia;

Australian Natl Univ Res Sch Elect Energy & Mat Engn Canberra ACT 2601 Australia|Univ Groningen Fac Sci & Engn NL-9747 AG Groningen Netherlands;

Australian Natl Univ Res Sch Elect Energy & Mat Engn Canberra ACT 2601 Australia|Hangzhou Dianzi Univ Hangzhou 310018 Peoples R China|Data61 CSIRO Canberra ACT 2601 Australia;

Australian Def Sci & Technol Edinburgh SA 5111 Australia;

Australian Def Sci & Technol Edinburgh SA 5111 Australia;

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1. Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements [J] . James S. Russell, Mengbin Ye, Brian D.O. Anderson, IFAC PapersOnLine . 2017,第1期

机译：使用到达测量方向在3维空间中对GPS定位的无人机进行协作定位
2. Cooperative target localization using multiple UAVs with out-of-sequence measurements [J] . Wang Xiaogang, Qin Wutao, Bai Yuliang, Aircraft engineering and aerospace technology . 2017,第1期

机译：使用多个无序测量的无人机进行合作目标定位
3. Model predictive cooperative localization control of multiple UAVs using potential function sensor constraints: A workflow to create sensor constraint based potential functions for the control of cooperative localization scenarios with mobile robots [J] . Dentler Jan, Kannan Somasundar, Bezzaoucha Souad, Autonomous robots . 2019,第1期

机译：模型使用潜在函数传感器约束的多个无人机的模型预测协作定位控制：一种创建基于传感器约束的工作流程，用于控制与移动机器人的合作本地化方案的潜在功能
4. Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements [C] . Lvtianyang Zhang, Mengbin Ye, Brian D.O. Anderson, IEEE Conference on Decision and Control . 2016

机译：使用方位角测量在GPS受限的环境中对无人机进行协作定位
5. Cooperative maneuver enabled UAV relative localization. [D] . Strader, Jared. 2016

机译：合作机动使无人机相对定位成为可能。
6. Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments [O] . Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, 2018

机译：GPS拒绝环境下用于多无人机系统的基于单眼协作的SLAM
7. Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments [O] . Juan-Carlos Trujillo, Rodrigo Munguia, Edmundo Guerra, 2018

机译：基于合作单眼的基于GPS拒绝环境的多UAV系统SLAM
8. Applying Cooperative Localization to Swarm UAVS Using an Extended Kalman Filter. [R] . Davis, R. B. 2014

机译：利用扩展卡尔曼滤波器将协同定位应用于群体无人机。

Cooperative Localization of a GPS-Denied UAV Using Direction-of-Arrival Measurements

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