Decentralized Position and Attitude Estimation Using Angle-of-Arrival Measurements

Gabrielle D. Vukasin and Jason H. Rife

Abstract:	This paper describes the development of a decentralized position estimation algorithm that computes relative position and orientation of vehicles by combining noisy angle-of-arrival measurements acquired and broadcast in a network of collaborating vehicles. We envision an application might be backup to GPS. The novelty of this algorithm is that it allows aircraft to estimate their position and orientation relative to each other without requiring vehicles to sense their orientation relative to the Earth.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	1436 - 1445
Cite this article:	Vukasin, Gabrielle D., Rife, Jason H., "Decentralized Position and Attitude Estimation Using Angle-of-Arrival Measurements," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 1436-1445.
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