Work

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

Year: 2024

Type: article

Abstract: 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.

Source: Electronics

DOI: 10.3390/electronics14010090

Authors: Jiawei Tang, Tian Chang, Qinglong Jiang, Xuhui Ding, Dekang Liu

Institutions: Beihang University, Beijing Institute of Technology

Language: English

Topic: Indoor and Outdoor Localization Technologies

Subfield: Electrical and Electronic Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

Funders: National Natural Science Foundation of China, Natural Science Foundation of Shandong Province, National Key Research and Development Program of China