Cooperative localization of unmanned aerial vehicles using GNSS, MEMS inertial, and UWB sensors

Goel, S, Kealy, A, Gikas, V, Retscher, G, Toth, C, Grejner-Brzezinska, D and Lohani, B 2017, 'Cooperative localization of unmanned aerial vehicles using GNSS, MEMS inertial, and UWB sensors', Journal of Surveying Engineering, vol. 143, no. 4, pp. 1-18.

Document type: Journal Article
Collection: Journal Articles

Title Cooperative localization of unmanned aerial vehicles using GNSS, MEMS inertial, and UWB sensors
Author(s) Goel, S
Kealy, A
Gikas, V
Retscher, G
Toth, C
Grejner-Brzezinska, D
Lohani, B
Year 2017
Journal name Journal of Surveying Engineering
Volume number 143
Issue number 4
Start page 1
End page 18
Total pages 18
Publisher American Society of Civil Engineers
Abstract Cooperative networks of low-cost unmanned aerial vehicles (UAVs) are attracting researchers because of their potential to enhance UAV performance. Cooperative networks can be used in many applications, including assisted guidance and navigation, surveillance, search and rescue, disaster management, defense, mapping, precision agriculture, and mineral exploration. Such cooperative networks of UAVs can act as ad hoc networks and share information among different network nodes. Such information sharing makes these nodes more robust and efficient for the intended purpose. The location of UAVs is traditionally determined using a global navigation satellite system (GNSS), which limits the use of UAVs in regions that lack GNSS. However, the location of UAVs can be determined even in environments without GNSS through a cooperative network if a few of the nodes have access to GNSS. This is achieved by sharing the information among the nodes of the network. Information sharing in a cooperative network further results in improvement in the proportional accuracy of the nodes in cases where GNSS is available to all nodes. This study investigated a mathematical model and operational framework for cooperative localization of UAVs using GNSS, microelectromechanical systems (MEMS), inertial navigation system (INS), and UWB (ultra-wide-band) sensors under different architectures. This paper briefly discusses the practical feasibility of different distributed architectures and provides a comparison of distributed and centralized architectures. The study analyzed the proposed network using numerical simulation and investigated changes in performance with respect to different parameters. The simulation results show that the centralized architecture generally provided higher localization accuracy compared with the distributed architecture. It was also observed that reliable and consistent localization can be achieved, irrespective of the size o
Subject Navigation and Position Fixing
DOI - identifier 10.1061/(ASCE)SU.1943-5428.0000230
Copyright notice © 2017 American Society of Civil Engineers.
ISSN 0733-9453
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