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dc.contributor.authorRussell, J.S.
dc.contributor.authorYe, Mengbin
dc.contributor.authorAnderson, B.D.O.
dc.contributor.authorHmam, H.
dc.contributor.authorSarunic, P.
dc.date.accessioned2021-07-06T12:41:03Z
dc.date.available2021-07-06T12:41:03Z
dc.date.issued2017
dc.identifier.citationRussell, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/84363
dc.identifier.doi10.1016/j.ifacol.2017.08.1226
dc.description.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.

dc.languageEnglish
dc.publisherELSEVIER SCIENCE BV
dc.subjectScience & Technology
dc.subjectTechnology
dc.subjectAutomation & Control Systems
dc.subjectLocalisation
dc.subjectDirection of Arrival Measurement
dc.subjectGPS Denial
dc.subjectSemidefinite Programming
dc.subjectOrthogonal Procrustes Algorithm
dc.subjectTwo-agent network
dc.subjectTARGET LOCALIZATION
dc.titleCooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements
dc.typeConference Paper
dcterms.source.volume50
dcterms.source.number1
dcterms.source.startPage8019
dcterms.source.endPage8024
dcterms.source.issn2405-8963
dcterms.source.titleIFAC-PapersOnLine
dcterms.source.conference20th World Congress of the International-Federation-of-Automatic-Control (IFAC)
dcterms.source.conference-start-date9 Jul 2017
dcterms.source.conferencelocationToulouse, FRANCE
dc.date.updated2021-07-06T12:41:02Z
curtin.departmentSchool of Elec Eng, Comp and Math Sci (EECMS)
curtin.accessStatusFulltext not available
curtin.facultyFaculty of Science and Engineering
curtin.contributor.orcidYe, Mengbin [0000-0003-1698-0173]
dcterms.source.conference-end-date14 Jul 2017
dcterms.source.eissn2405-8963
curtin.contributor.scopusauthoridYe, Mengbin [56203529600]


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