Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements
This addresses localization challenges for UAVs in GPS-denied environments, though it appears incremental as it builds on existing cooperative methods.
The paper tackled the problem of localizing a GPS-denied UAV by using direction of arrival measurements from a GPS-equipped UAV, achieving improved accuracy through semidefinite programming and maximum likelihood estimation, with validation via flight data and simulations.
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.