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Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements

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Authors
Russell, J.S.
Ye, Mengbin
Anderson, B.D.O.
Hmam, H.
Sarunic, P.
Date
2017
Type
Conference Paper

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Russell, J.S. and Ye, M. and Anderson, B.D.O. and Hmam, H. and Sarunic, P. 2017. Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements. In: 20th World Congress of the International-Federation-of-Automatic-Control (IFAC), 9th Jul 2017, Toulouse, FRANCE.
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IFAC-PapersOnLine
Source Conference
20th World Congress of the International-Federation-of-Automatic-Control (IFAC)
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Faculty
Faculty of Science and Engineering
School
School of Elec Eng, Comp and Math Sci (EECMS)
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Abstract

This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of its global coordinates. The GPS-denied UAV receives the broadcast and in doing so takes a direction of arrival (DOA) measurement towards the origin of the broadcast in its local coordinate frame (obtained via an inertial navigation system (INS)). The aim is to determine the difference between the local and global frames, described by a rotation and a translation. In the noiseless case, global coordinates are recovered exactly by solving a system of linear equations. When DOA measurements are contaminated with noise, rank relaxed semidefinite programming (SDP) and the Orthogonal Procrustes algorithm are employed. Simulations are provided and factors affecting accuracy, such as noise levels and number of measurements, are explored.