TY - JOUR
T1 - Time-of-Arrival and Angle-of-Arrival Measurement-Assisted 3D Inter-Unmanned Aerial Vehicle Relative Localization Under Distance-Dependent Noise Model
AU - Tang, Jiawei
AU - Chang, Tian
AU - Jiang, Qinglong
AU - Ding, Xuhui
AU - Liu, Dekang
N1 - Publisher Copyright:
© 2024 by the authors.
PY - 2025/1
Y1 - 2025/1
N2 - 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.
AB - 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.
KW - angle-of-arrival (AOA)
KW - non-convex optimization
KW - relative localization
KW - semidefinite relaxation (SDR)
KW - time-of-arrival (TOA)
UR - http://www.scopus.com/inward/record.url?scp=85214499036&partnerID=8YFLogxK
U2 - 10.3390/electronics14010090
DO - 10.3390/electronics14010090
M3 - Article
AN - SCOPUS:85214499036
SN - 2079-9292
VL - 14
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 1
M1 - 90
ER -