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 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]
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