Cooperative localization of a GPS-Denied UAV using direction-of-arrival measurements

James S. Russell; Mengbin Ye; Brian D.O. Anderson; Hatem Hmam; Peter Sarunic

doi:10.1109/TAES.2019.2942704

Cooperative localization of a GPS-Denied UAV using direction-of-arrival measurements

James S. Russell^*, Mengbin Ye, Brian D.O. Anderson, Hatem Hmam, Peter Sarunic

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

38 Citations (Scopus)

Abstract

A GPS-denied unmanned aerial vehicle (UAV) (Agent B) is localized through inertial navigation system 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.

Original language	English
Article number	8878024
Pages (from-to)	1966-1978
Number of pages	13
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	3
DOIs	https://doi.org/10.1109/TAES.2019.2942704
Publication status	Published - Jun 2020

Access to Document

10.1109/TAES.2019.2942704

Cite this

@article{aca5143c9a064f49aee6514413debb21,

title = "Cooperative localization of a GPS-Denied UAV using direction-of-arrival measurements",

abstract = "A GPS-denied unmanned aerial vehicle (UAV) (Agent B) is localized through inertial navigation system 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.",

keywords = "Direction-of-arrival measurement, GPS-denied, inertial navigation system (INS) alignment, localization, semidefinite programming (SDP)",

author = "Russell, {James S.} and Mengbin Ye and Anderson, {Brian D.O.} and Hatem Hmam and Peter Sarunic",

note = "Publisher Copyright: {\textcopyright} 1965-2011 IEEE.",

year = "2020",

month = jun,

doi = "10.1109/TAES.2019.2942704",

language = "English",

volume = "56",

pages = "1966--1978",

journal = "IEEE Transactions on Aerospace and Electronic Systems",

issn = "0018-9251",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - Cooperative localization of a GPS-Denied UAV using direction-of-arrival measurements

AU - Russell, James S.

AU - Ye, Mengbin

AU - Anderson, Brian D.O.

AU - Hmam, Hatem

AU - Sarunic, Peter

PY - 2020/6

Y1 - 2020/6

N2 - A GPS-denied unmanned aerial vehicle (UAV) (Agent B) is localized through inertial navigation system 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.

AB - A GPS-denied unmanned aerial vehicle (UAV) (Agent B) is localized through inertial navigation system 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.

KW - Direction-of-arrival measurement

KW - GPS-denied

KW - inertial navigation system (INS) alignment

KW - localization

KW - semidefinite programming (SDP)

UR - http://www.scopus.com/inward/record.url?scp=85086896678&partnerID=8YFLogxK

U2 - 10.1109/TAES.2019.2942704

DO - 10.1109/TAES.2019.2942704

M3 - Article

SN - 0018-9251

VL - 56

SP - 1966

EP - 1978

JO - IEEE Transactions on Aerospace and Electronic Systems

JF - IEEE Transactions on Aerospace and Electronic Systems

IS - 3

M1 - 8878024

ER -

Cooperative localization of a GPS-Denied UAV using direction-of-arrival measurements

Abstract

Access to Document

Other files and links

Fingerprint

Cite this