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dc.contributor.authorRussell, James S
dc.contributor.authorYe, Mengbin
dc.contributor.authorAnderson, Brian DO
dc.contributor.authorHmam, Hatem
dc.contributor.authorSarunic, Peter
dc.identifier.citationRussell, 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.

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.

dc.titleCooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements
dc.typeJournal Article
dcterms.source.titleIEEE Transactions on Aerospace and Electronic Systems

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curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusOpen access
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]

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