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James S. Russell

Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements

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Nov 20, 2018
James S. Russell, Mengbin Ye, Brian D. O. Anderson, Hatem Hmam, Peter Sarunic
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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.

* 13 pages, 11 figures, this is an extended version to an imminent submission to IEEE Transactions on Aerospace and Electronic Systems. arXiv admin note: text overlap with arXiv:1703.06261 
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