Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments
This article puts forward an indirect cooperative relative localization method to estimate the position of unmanned aerial vehicles (UAVs) relative to their neighbors based solely on distance and self-displacement measurements in GPS denied environments. Our method consists of two stages. Initially,...
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| Format: | Journal Article |
| Language: | English |
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2019
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| Online Access: | https://hdl.handle.net/10356/106954 http://hdl.handle.net/10220/49013 http://dx.doi.org/10.1177/1756829317695564 |
| _version_ | 1811692572408545280 |
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| author | Guo, Kexin Qiu, Zhirong Meng, Wei Xie, Lihua Teo, Rodney |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Guo, Kexin Qiu, Zhirong Meng, Wei Xie, Lihua Teo, Rodney |
| author_sort | Guo, Kexin |
| collection | NTU |
| description | This article puts forward an indirect cooperative relative localization method to estimate the position of unmanned aerial vehicles (UAVs) relative to their neighbors based solely on distance and self-displacement measurements in GPS denied environments. Our method consists of two stages. Initially, assuming no knowledge about its own and neighbors’ states and limited by the environment or task constraints, each unmanned aerial vehicle (UAV) solves an active 2D relative localization problem to obtain an estimate of its initial position relative to a static hovering quadcopter (a.k.a. beacon), which is subsequently refined by the extended Kalman filter to account for the noise in distance and displacement measurements. Starting with the refined initial relative localization guess, the second stage generalizes the extended Kalman filter strategy to the case where all unmanned aerial vehicles (UAV) move simultaneously. In this stage, each unmanned aerial vehicle (UAV) carries out cooperative localization through the inter-unmanned aerial vehicle distance given by ultra-wideband and exchanging the self-displacements of neighboring unmanned aerial vehicles (UAV). Extensive simulations and flight experiments are presented to corroborate the effectiveness of our proposed relative localization initialization strategy and algorithm. |
| first_indexed | 2024-10-01T06:37:55Z |
| format | Journal Article |
| id | ntu-10356/106954 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:37:55Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/1069542019-12-06T22:21:50Z Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments Guo, Kexin Qiu, Zhirong Meng, Wei Xie, Lihua Teo, Rodney School of Electrical and Electronic Engineering Ultra-wideband Relative Localization Engineering::Electrical and electronic engineering This article puts forward an indirect cooperative relative localization method to estimate the position of unmanned aerial vehicles (UAVs) relative to their neighbors based solely on distance and self-displacement measurements in GPS denied environments. Our method consists of two stages. Initially, assuming no knowledge about its own and neighbors’ states and limited by the environment or task constraints, each unmanned aerial vehicle (UAV) solves an active 2D relative localization problem to obtain an estimate of its initial position relative to a static hovering quadcopter (a.k.a. beacon), which is subsequently refined by the extended Kalman filter to account for the noise in distance and displacement measurements. Starting with the refined initial relative localization guess, the second stage generalizes the extended Kalman filter strategy to the case where all unmanned aerial vehicles (UAV) move simultaneously. In this stage, each unmanned aerial vehicle (UAV) carries out cooperative localization through the inter-unmanned aerial vehicle distance given by ultra-wideband and exchanging the self-displacements of neighboring unmanned aerial vehicles (UAV). Extensive simulations and flight experiments are presented to corroborate the effectiveness of our proposed relative localization initialization strategy and algorithm. Published version 2019-06-28T05:30:36Z 2019-12-06T22:21:50Z 2019-06-28T05:30:36Z 2019-12-06T22:21:50Z 2017 Journal Article Guo, K., Qiu, Z., Meng, W., Xie, L., & Teo, R. (2017). Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments. International Journal of Micro Air Vehicles, 9(3), 169-186. doi:10.1177/1756829317695564 1756-8293 https://hdl.handle.net/10356/106954 http://hdl.handle.net/10220/49013 http://dx.doi.org/10.1177/1756829317695564 en International Journal of Micro Air Vehicles © 2017 The Author(s). This article is distributed under the terms of the Creative Commons AttributionNonCommercial 3.0 License (http://www.creativecommons.org/licenses/by-nc/3.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage). 18 p. application/pdf |
| spellingShingle | Ultra-wideband Relative Localization Engineering::Electrical and electronic engineering Guo, Kexin Qiu, Zhirong Meng, Wei Xie, Lihua Teo, Rodney Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title | Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title_full | Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title_fullStr | Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title_full_unstemmed | Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title_short | Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments |
| title_sort | ultra wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in gps denied environments |
| topic | Ultra-wideband Relative Localization Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/106954 http://hdl.handle.net/10220/49013 http://dx.doi.org/10.1177/1756829317695564 |
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