Title: Cooperative Localization for Fixed Wing Unmanned Aerial Vehicles
Author(s): Anusna Chakraborty, Rajnikant Sharma, Clark N. Taylor, and Kevin M. Brink
Published in: Proceedings of IEEE/ION PLANS 2016
April 11 - 14, 2016
Hyatt Regency Hotel
Savannah, GA
Pages: 106 - 117
Cite this article: Chakraborty, Anusna, Sharma, Rajnikant, Taylor, Clark N., Brink, Kevin M., "Cooperative Localization for Fixed Wing Unmanned Aerial Vehicles," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 106-117.
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Abstract: In this paper, we investigate how relative measurements between fixed wing unmanned aerial vehicles (UAVs) and known landmarks can be used to cooperatively localize UAVs when GPS signals are not available. A centralized Extended Kalman Filter (EKF) is used to combine local sensor information from all the UAVs to estimate the required states of all the UAVs. We compare the localization accuracy of the cooperative localization algorithm for different relative measurements such as range, bearing, range rate, and line-of-sight rate. The dynamics, IMU, airspeed, and altimeter data used in the algorithm were collected from flight tests by Naval Postgraduate School. However, the relative measurements are simulated using the flight data. The results are then compared against the GPS data available from the flight test.