Cooperative Localisation of GPS-Denied UAVs using Direction of Arrival Measurements
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A GPS-denied UAV (Agent B) is localised with the aid of a nearby GPS-equipped UAV (Agent A). Agent A broadcasts its position at several time instants, and Agent B measures the signals' direction of arrival with respect to Agent B's inertial navigation frame. Rank-relaxed 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.
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