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Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements

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Open access
Authors
Russell, James S
Ye, Mengbin
Anderson, Brian DO
Hmam, Hatem
Sarunic, Peter
Date
2019
Type
Journal Article

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Russell, J.S. and Ye, M. and Anderson, B.D.O. and Hmam, H. and Sarunic, P. 2019. Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements. IEEE Transactions on Aerospace and Electronic Systems.
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IEEE Transactions on Aerospace and Electronic Systems
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Faculty of Science and Engineering
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School of Elec Eng, Comp and Math Sci (EECMS)
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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.