Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation

Jingze Zhang; Zijuan Luo; Chunyu Li; Xuesong Li; Jianan Wang

doi:10.1007/978-981-97-3332-3_28

Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation

Jingze Zhang, Zijuan Luo, Chunyu Li, Xuesong Li, Jianan Wang^*

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a leader-follower cooperative navigation framework for UAV localization, facilitated by ground anchors, wherein distance between UAVs is measured. Concurrently, a novel model is proposed for distance and angle measurement, introduced to reduce nonlinear errors in the measurement model, and further minimize the minimum quantity of required anchors. Simulation experiments demonstrate that this algorithm can maintain precise cooperative state estimations while the UAV swarm executes time-invariant formation movements, and remarkably, only requires a single ground anchor.

Original language	English
Title of host publication	Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies
Editors	Jianglong Yu, Qingdong Li, Yumeng Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	319-330
Number of pages	12
ISBN (Print)	9789819733316
DOIs	https://doi.org/10.1007/978-981-97-3332-3_28
Publication status	Published - 2024
Event	7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023 - Nanjing, China Duration: 24 Nov 2023 → 27 Nov 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1206 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023
Country/Territory	China
City	Nanjing
Period	24/11/23 → 27/11/23

Keywords

aerial systems
cooperative localization
range-bearing
time-invariant formation

Access to Document

10.1007/978-981-97-3332-3_28

Cite this

Zhang, J., Luo, Z., Li, C., Li, X., & Wang, J. (2024). Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation. In J. Yu, Q. Li, & Y. Liu (Eds.), Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies (pp. 319-330). (Lecture Notes in Electrical Engineering; Vol. 1206 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-3332-3_28

Zhang, Jingze ; Luo, Zijuan ; Li, Chunyu et al. / Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation. Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies. editor / Jianglong Yu ; Qingdong Li ; Yumeng Liu. Springer Science and Business Media Deutschland GmbH, 2024. pp. 319-330 (Lecture Notes in Electrical Engineering).

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abstract = "This paper presents a leader-follower cooperative navigation framework for UAV localization, facilitated by ground anchors, wherein distance between UAVs is measured. Concurrently, a novel model is proposed for distance and angle measurement, introduced to reduce nonlinear errors in the measurement model, and further minimize the minimum quantity of required anchors. Simulation experiments demonstrate that this algorithm can maintain precise cooperative state estimations while the UAV swarm executes time-invariant formation movements, and remarkably, only requires a single ground anchor.",

keywords = "aerial systems, cooperative localization, range-bearing, time-invariant formation",

author = "Jingze Zhang and Zijuan Luo and Chunyu Li and Xuesong Li and Jianan Wang",

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Zhang, J, Luo, Z, Li, C, Li, X & Wang, J 2024, Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation. in J Yu, Q Li & Y Liu (eds), Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies. Lecture Notes in Electrical Engineering, vol. 1206 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 319-330, 7th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2023, Nanjing, China, 24/11/23. https://doi.org/10.1007/978-981-97-3332-3_28

Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation. / Zhang, Jingze; Luo, Zijuan; Li, Chunyu et al.
Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies. ed. / Jianglong Yu; Qingdong Li; Yumeng Liu. Springer Science and Business Media Deutschland GmbH, 2024. p. 319-330 (Lecture Notes in Electrical Engineering; Vol. 1206 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Zhang J, Luo Z, Li C, Li X, Wang J. Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation. In Yu J, Li Q, Liu Y, editors, Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Perception and Navigation Technologies. Springer Science and Business Media Deutschland GmbH. 2024. p. 319-330. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-97-3332-3_28