TY - GEN
T1 - Cooperative localization of UAV based on information synchronization
AU - Qu, Yaohong
AU - Zhang, Youmin
AU - Zhou, Qingli
PY - 2010
Y1 - 2010
N2 - Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization method by other members' measurements in the UAV team. First, we assume that these UAVs construct a ring communication topological structure and all the units in the network can respectively obtain the position information of the UAV by measuring the relative range and the azimuth from the UAV. Next, the information is synchronized in the ring communication network and it converges to a same value. Finally, the data is communicated to the UAV whose GPS receiver works improperly so that the UAV is capable of continuing the navigation task. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.
AB - Information synchronization is the key technology of multi-UAV in formation flight. Based on the linear update law, this paper develops a general analytical solution of synchronization for a ring communication topological structure. Considering the fact that GPS is vulnerable to fail in some circumstances which may lead to that the localization of the UAV cannot continue, we propose a localization method by other members' measurements in the UAV team. First, we assume that these UAVs construct a ring communication topological structure and all the units in the network can respectively obtain the position information of the UAV by measuring the relative range and the azimuth from the UAV. Next, the information is synchronized in the ring communication network and it converges to a same value. Finally, the data is communicated to the UAV whose GPS receiver works improperly so that the UAV is capable of continuing the navigation task. Simulation results in Matlab/Simulink show the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/78649290219
U2 - 10.1109/ICMA.2010.5589081
DO - 10.1109/ICMA.2010.5589081
M3 - 会议稿件
AN - SCOPUS:78649290219
SN - 9781424451418
T3 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
SP - 225
EP - 230
BT - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
T2 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
Y2 - 4 August 2010 through 7 August 2010
ER -