arXiv:1804.04317
Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements
Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements
著者: James S. Russell, Mengbin Ye, Brian D. O. Anderson, Hatem Hmam, Peter Sarunic
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.