Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements
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 bro...
| Main Authors: | , , , , |
|---|---|
| Format: | Conference Paper |
| Language: | English |
| Published: |
ELSEVIER SCIENCE BV
2017
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/84363 |
| _version_ | 1848764642730442752 |
|---|---|
| author | Russell, J.S. Ye, Mengbin Anderson, B.D.O. Hmam, H. Sarunic, P. |
| author_facet | Russell, J.S. Ye, Mengbin Anderson, B.D.O. Hmam, H. Sarunic, P. |
| author_sort | Russell, J.S. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T11:22:36Z |
| format | Conference Paper |
| id | curtin-20.500.11937-84363 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:22:36Z |
| publishDate | 2017 |
| publisher | ELSEVIER SCIENCE BV |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-843632021-07-07T08:16:51Z Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements Russell, J.S. Ye, Mengbin Anderson, B.D.O. Hmam, H. Sarunic, P. Science & Technology Technology Automation & Control Systems Localisation Direction of Arrival Measurement GPS Denial Semidefinite Programming Orthogonal Procrustes Algorithm Two-agent network TARGET LOCALIZATION 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. 2017 Conference Paper http://hdl.handle.net/20.500.11937/84363 10.1016/j.ifacol.2017.08.1226 English ELSEVIER SCIENCE BV restricted |
| spellingShingle | Science & Technology Technology Automation & Control Systems Localisation Direction of Arrival Measurement GPS Denial Semidefinite Programming Orthogonal Procrustes Algorithm Two-agent network TARGET LOCALIZATION Russell, J.S. Ye, Mengbin Anderson, B.D.O. Hmam, H. Sarunic, P. Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title | Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title_full | Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title_fullStr | Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title_full_unstemmed | Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title_short | Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements |
| title_sort | cooperative localisation of a gps-denied uav in 3-dimensional space using direction of arrival measurements |
| topic | Science & Technology Technology Automation & Control Systems Localisation Direction of Arrival Measurement GPS Denial Semidefinite Programming Orthogonal Procrustes Algorithm Two-agent network TARGET LOCALIZATION |
| url | http://hdl.handle.net/20.500.11937/84363 |