Bearing-only cooperative geo-localization using Unmanned Aerial Vehicles
Bearing-only cooperative geo-localization using Unmanned Aerial Vehicles
复制标题
使用无人机进行仅方位协作地理定位
DOI：
10.1109/acc.2012.6315255
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
D. Pack
中科院分区：
文献类型：
--
作者：
Rajnikant Sharma;R. Beard;Clark N. Taylor;D. Pack
本文提出了一种利用无人机（UAV）的纯方位定位对地面目标进行协同定位的方法。设计了一种基于滚动时域控制的分布式航迹规划算法，在满足可观测性条件的同时，提高了目标和所有飞行器的定位精度。我们表明，合作的轴承只有本地化消除了全球定位和航向信息的所有车辆的约束，只要传感器网络连接，至少有一个车辆GPS测量。我们包括模拟结果的纯方位合作目标定位的静止和移动的地面目标证明我们所提出的方法的可行性。
In this paper, we present a cooperative approach to geo-localize a ground target using bearing-only localization of Unmanned Aerial Vehicles (UAVs). We design a distributed path planning algorithm using receding horizon control, which improves the localization accuracy of the target and of all of the air vehicles simultaneously while satisfying the observability conditions. We show that the cooperative bearing-only localization removes the constraint of having global position and heading information to all of the vehicles, as long as the sensor network is connected and at least one of the vehicle has GPS measurements. We include simulation results for bearing-only cooperative target geo-localization of a stationary and a mobile ground target demonstrating the feasibility of our proposed methods.