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    Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements

    84270.pdf (360.7Kb)
    Access Status
    Open access
    Authors
    Zhang, L.
    Ye, Mengbin
    Anderson, B.D.O.
    Sarunic, P.
    Hmam, H.
    Date
    2016
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Zhang, L. and Ye, M. and Anderson, B.D.O. and Sarunic, P. and Hmam, H. 2016. Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements. In: 55th IEEE Conference on Decision and Control (CDC), 12th Dec 2016, Las Vegas, NV.
    Source Title
    2016 IEEE 55th Conference on Decision and Control, CDC 2016
    Source Conference
    55th IEEE Conference on Decision and Control (CDC)
    DOI
    10.1109/CDC.2016.7798924
    ISBN
    9781509018376
    ISSN
    0743-1546
    Faculty
    Faculty of Science and Engineering
    School
    School of Elec Eng, Comp and Math Sci (EECMS)
    URI
    http://hdl.handle.net/20.500.11937/84386
    Collection
    • Curtin Research Publications
    Abstract

    This paper studies the problem of localising a Global Positioning System (GPS)-denied Unmanned Aerial Vehicle (UAV) in two-dimensional space. Suppose there are two vehicles, one which is equipped with GPS and the other is GPS-denied (but has an inertial navigation system (INS) and so is able to determine its trajectory in a local coordinate frame, but not a global coordinate frame). The GPS-equipped vehicle broadcasts its global coordinates to the GPS-denied vehicle and the GPS-denied vehicle also obtains, in its local coordinate frame, a bearing measurement of the GPS-equipped UAV. The paper shows that with four or more such measurements and generic trajectories of the two UAVs, localisation in a global coordinate frame of the GPS-denied UAV is achievable. Certain nongeneric trajectories for which localisation is impossible are also identified. While in the first instance, the solution assumes zero noise in the measurements, the techniques are then extended to deal with the presence of measurement noise.

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