Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements
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 dete...
| Main Authors: | , , , , |
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| Format: | Conference Paper |
| Language: | English |
| Published: |
IEEE
2016
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/84386 |
| _version_ | 1848764643923722240 |
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| author | Zhang, L. Ye, Mengbin Anderson, B.D.O. Sarunic, P. Hmam, H. |
| author_facet | Zhang, L. Ye, Mengbin Anderson, B.D.O. Sarunic, P. Hmam, H. |
| author_sort | Zhang, L. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T11:22:37Z |
| format | Conference Paper |
| id | curtin-20.500.11937-84386 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:22:37Z |
| publishDate | 2016 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-843862021-07-08T03:46:03Z Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements Zhang, L. Ye, Mengbin Anderson, B.D.O. Sarunic, P. Hmam, H. Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering 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. 2016 Conference Paper http://hdl.handle.net/20.500.11937/84386 10.1109/CDC.2016.7798924 English IEEE fulltext |
| spellingShingle | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering Zhang, L. Ye, Mengbin Anderson, B.D.O. Sarunic, P. Hmam, H. Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title | Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title_full | Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title_fullStr | Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title_full_unstemmed | Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title_short | Cooperative localisation of UAVs in a GPS-denied environment using bearing measurements |
| title_sort | cooperative localisation of uavs in a gps-denied environment using bearing measurements |
| topic | Science & Technology Technology Automation & Control Systems Engineering, Electrical & Electronic Operations Research & Management Science Engineering |
| url | http://hdl.handle.net/20.500.11937/84386 |