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Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements

Russell, James; Ye, Ben; Anderson, Brian; Hmam, Hatem; Sarunic, Peter

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...[Show more]

CollectionsANU Research Publications
Date published: 2017
Type: Journal article
URI: http://hdl.handle.net/1885/217935
Source: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2017.08.1226

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