Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements
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 pr...
| Main Authors: | , , , , |
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| Format: | Journal Article |
| Published: |
IEEE
2019
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| Online Access: | http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/78258 |
| _version_ | 1848763948270092288 |
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| author | Russell, James S Ye, Mengbin Anderson, Brian DO Hmam, Hatem Sarunic, Peter |
| author_facet | Russell, James S Ye, Mengbin Anderson, Brian DO Hmam, Hatem Sarunic, Peter |
| author_sort | Russell, James S |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T11:11:34Z |
| format | Journal Article |
| id | curtin-20.500.11937-78258 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T11:11:34Z |
| publishDate | 2019 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-782582022-10-27T06:08:37Z Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements Russell, James S Ye, Mengbin Anderson, Brian DO Hmam, Hatem Sarunic, Peter 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. 2019 Journal Article http://hdl.handle.net/20.500.11937/78258 10.1109/TAES.2019.2942704 http://purl.org/au-research/grants/arc/DP160104500 http://purl.org/au-research/grants/arc/DP190100887 IEEE fulltext |
| spellingShingle | Russell, James S Ye, Mengbin Anderson, Brian DO Hmam, Hatem Sarunic, Peter Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title | Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title_full | Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title_fullStr | Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title_full_unstemmed | Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title_short | Cooperative Localisation of a GPS-Denied UAV using Direction-of-Arrival Measurements |
| title_sort | cooperative localisation of a gps-denied uav using direction-of-arrival measurements |
| url | http://purl.org/au-research/grants/arc/DP160104500 http://purl.org/au-research/grants/arc/DP160104500 http://hdl.handle.net/20.500.11937/78258 |