Time-of-Arrival and Angle-of-Arrival Measurement-Assisted 3D Inter-Unmanned Aerial Vehicle Relative Localization Under Distance-Dependent Noise Model

Jiawei Tang, Tian Chang, Qinglong Jiang, Xuhui Ding, Dekang Liu*

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

This paper addresses the 3D relative localization problem for two unmanned aerial vehicles (UAVs) using a combination of time-of-arrival (TOA) and angle-of-arrival (AOA) measurements across varied flight trajectories. We commenced by examining the problem of relative attitude estimation using only time-of-arrival (TOA) measurements, taking into account a distance-dependent noise model. To address this issue, we constructed a constrained weighted least squares (CWLS) problem and applied semidefinite relaxation (SDR) techniques for its resolution. Furthermore, we extended our analysis to incorporate AOA measurements and scrutinize the Cramer–Rao Lower Bound (CRLB) to illustrate enhanced localization accuracy through TOA-AOA integration compared to TOA alone under stable trajectory conditions. Ultimately, numerical simulations substantiate the efficacy of the proposed methodologies.

源语言英语
文章编号90
期刊Electronics (Switzerland)
14
1
DOI
出版状态已出版 - 1月 2025

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引用此

Tang, J., Chang, T., Jiang, Q., Ding, X., & Liu, D. (2025). Time-of-Arrival and Angle-of-Arrival Measurement-Assisted 3D Inter-Unmanned Aerial Vehicle Relative Localization Under Distance-Dependent Noise Model. Electronics (Switzerland), 14(1), 文章 90. https://doi.org/10.3390/electronics14010090