Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment
The localization of unmanned aerial vehicle (UAV) in GPS-denied environment is a difficult problem to be studied and solved.In this paper, the cooperative localization (CL) of UAV cluster system in GPS-denied environment is the main research points.Firstly, location confidence (LC) is proposed for t...
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| Format: | Article |
| Language: | zho |
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Editorial office of Computer Science
2022-04-01
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| Series: | Jisuanji kexue |
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| Online Access: | https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2022-49-4-302.pdf |
| _version_ | 1818547479892721664 |
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| author | SHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun |
| author_facet | SHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun |
| author_sort | SHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun |
| collection | DOAJ |
| description | The localization of unmanned aerial vehicle (UAV) in GPS-denied environment is a difficult problem to be studied and solved.In this paper, the cooperative localization (CL) of UAV cluster system in GPS-denied environment is the main research points.Firstly, location confidence (LC) is proposed for the quantification of UAV's localization accuracy in GPS-denied environment.Secondly, a LC-based CL method, which can adaptively adjust the cooperative weight of each UAV through persistent excitation-based relative localization, is proposed to improve the accuracy of UAV cluster localization.Thirdly, a expand kalman filtering (EKF) is designed for UAV attitude calculation, which can be equipped in each UAV and used to fusing multi heterogeneous sensor data and the CL output.Finally, a multi-UAV cooperative localization system is implemented on ROS, and is verified in multi-UAV flight simulation scene of Gazebo.The simulation results show that the LC-based CL method can effectively alleviate the error accumulation of traditional inertial navigation system, and improve the accuracy of UAV cluster localization. |
| first_indexed | 2024-12-12T08:07:17Z |
| format | Article |
| id | doaj.art-4afa5f78e5ab41a789e25e5f527f0f24 |
| institution | Directory Open Access Journal |
| issn | 1002-137X |
| language | zho |
| last_indexed | 2024-12-12T08:07:17Z |
| publishDate | 2022-04-01 |
| publisher | Editorial office of Computer Science |
| record_format | Article |
| series | Jisuanji kexue |
| spelling | doaj.art-4afa5f78e5ab41a789e25e5f527f0f242022-12-22T00:31:55ZzhoEditorial office of Computer ScienceJisuanji kexue1002-137X2022-04-0149430231110.11896/jsjkx.210200106Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironmentSHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun01 School of Computer Science, National University of Defense Technology, Changsha 410073, China;<br/>2 National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing 100166, China;<br/>3 Tianjin Artificial Intelligence Innovation Center, Tianjin 300457, ChinaThe localization of unmanned aerial vehicle (UAV) in GPS-denied environment is a difficult problem to be studied and solved.In this paper, the cooperative localization (CL) of UAV cluster system in GPS-denied environment is the main research points.Firstly, location confidence (LC) is proposed for the quantification of UAV's localization accuracy in GPS-denied environment.Secondly, a LC-based CL method, which can adaptively adjust the cooperative weight of each UAV through persistent excitation-based relative localization, is proposed to improve the accuracy of UAV cluster localization.Thirdly, a expand kalman filtering (EKF) is designed for UAV attitude calculation, which can be equipped in each UAV and used to fusing multi heterogeneous sensor data and the CL output.Finally, a multi-UAV cooperative localization system is implemented on ROS, and is verified in multi-UAV flight simulation scene of Gazebo.The simulation results show that the LC-based CL method can effectively alleviate the error accumulation of traditional inertial navigation system, and improve the accuracy of UAV cluster localization.https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2022-49-4-302.pdflocation confidence|unmanned aerial vehicle|gps-denied environment|cooperative localization|expand kalman filtering |
| spellingShingle | SHI Dian-xi, LIU Cong, SHE Fu-jiang, ZHANG Yong-jun Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment Jisuanji kexue location confidence|unmanned aerial vehicle|gps-denied environment|cooperative localization|expand kalman filtering |
| title | Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment |
| title_full | Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment |
| title_fullStr | Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment |
| title_full_unstemmed | Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment |
| title_short | Cooperation Localization Method Based on Location Confidence of Multi-UAV in GPS-deniedEnvironment |
| title_sort | cooperation localization method based on location confidence of multi uav in gps deniedenvironment |
| topic | location confidence|unmanned aerial vehicle|gps-denied environment|cooperative localization|expand kalman filtering |
| url | https://www.jsjkx.com/fileup/1002-137X/PDF/1002-137X-2022-49-4-302.pdf |
| work_keys_str_mv | AT shidianxiliucongshefujiangzhangyongjun cooperationlocalizationmethodbasedonlocationconfidenceofmultiuavingpsdeniedenvironment |