TY - GEN
T1 - Multi-UAV cooperative positioning based on Delaunay triangulation
AU - Qu, Yaohong
AU - Tian, Qichuan
PY - 2010
Y1 - 2010
N2 - A method of multi-UAV positioning based on Delaunay triangulation is proposed in this paper. Considering that the durable UAV's navigation cannot hold a good accuracy in long distance when GPS signal is denied, the UAV's location can be calculated using the relative range from the other teams. Similar to the principle of GPS, the method takes three other UAVs as the reference points for an UAV whose GPS receiver works improperly due to failure. Because there are more reference points available in the Multi-UAV flight, the choosing method is based on the Delaunay diagram theory. Thus the UAV's location in 2D can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.
AB - A method of multi-UAV positioning based on Delaunay triangulation is proposed in this paper. Considering that the durable UAV's navigation cannot hold a good accuracy in long distance when GPS signal is denied, the UAV's location can be calculated using the relative range from the other teams. Similar to the principle of GPS, the method takes three other UAVs as the reference points for an UAV whose GPS receiver works improperly due to failure. Because there are more reference points available in the Multi-UAV flight, the choosing method is based on the Delaunay diagram theory. Thus the UAV's location in 2D can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.
KW - Cooperative positioning
KW - Delaunay triangulation
KW - GPS
KW - Kalman filter
KW - UAV(unmaned areial vehicle)
UR - http://www.scopus.com/inward/record.url?scp=78650328983&partnerID=8YFLogxK
U2 - 10.1109/CASoN.2010.97
DO - 10.1109/CASoN.2010.97
M3 - 会议稿件
AN - SCOPUS:78650328983
SN - 9780769542027
T3 - Proceedings - International Conference on Computational Aspects of Social Networks, CASoN'10
SP - 401
EP - 404
BT - Proceedings - International Conference on Computational Aspects of Social Networks, CASoN'10
T2 - International Conference on Computational Aspects of Social Networks, CASoN'10
Y2 - 26 September 2010 through 28 September 2010
ER -