Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments

• Main Authors: Guo, Kexin, Qiu, Zhirong, Meng, Wei, Xie, Lihua, Teo, Rodney
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Ultra-wideband; Relative Localization; Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/106954; http://hdl.handle.net/10220/49013; http://dx.doi.org/10.1177/1756829317695564
• Institution: Nanyang Technological University

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,...