Cooperative localization between small UAVs using a combination of heterogeneous sensors

Lee, Won Suk; Bang, Hyochoong; Leeghim, Henzeh

doi:10.1016/j.ast.2012.07.002

Cited by 50 publications

(24 citation statements)

References 17 publications

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“…Since system observability depends on the relative geometry [16]- [19], the trajectory of the observer poses a direct impact on the achievable estimation performance [20]- [23]. For this reason, it is known that trajectory optimisation, maximising system observability, can yield significant benefits for target tracking with bearing-only measurement to improve the quality of perceptual results [24].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization for Target Localization With Bearing-Only Measurement

Shin

Tsourdos

2019

IEEE Trans. Robot.

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This paper considers the problem of twodimensional (2D) constrained trajectory optimisation of a pointmass aerial robot for constant-manoeuvring target localisation using bearing-only measurement. A performance metric that can be utilised in trajectory optimisation to maximise target observability is proposed first based on geometric conditions. One-step optimal manoeuvre that maximises the observability criterion is then derived analytically for moving targets. The heading angle constraint is also incorporated in the proposed optimal manoeuvre derivation to support practical application. Numerical simulations with some comparisons are presented to validate the analytical findings.

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Section: Introductionmentioning

confidence: 99%

Trajectory Optimization for Target Localization With Bearing-Only Measurement

Shin

Tsourdos

2019

IEEE Trans. Robot.

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“…According to Cramér-Rao inequality [18], the inverse of the Fisher Information Matrix (FIM) estimates the lower bound of the estimation error. Therefore, FIM can be used to quantify the observability of the navigation system [19][20][21]. In this circumstance, some valuable analytic conclusions about the navigation design can thus be obtained.…”

Section: Introductionmentioning

confidence: 99%

Mars Networks-Based Navigation: Observability and Optimization

Yu¹,

Cui²,

Xu³

et al. 2018

Space Flight

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In order to achieve more scientific returns for Mars, future Mars landers will be required to land at certain landing point with special scientific interest. Therefore, autonomous navigation is indispensable during the Mars approach, entry, and landing phase. However, the number of beacons or the Mars orbiters which can provide the navigation service is so limited and the line-of-sight visibility cannot be guaranteed during the landing period. So the navigation scheme especially the beacon configuration has to be optimized in order to efficiently use the limited navigation information. This chapter aims to analyze the feasibility and optimize the performance of the Mars Networks-based navigation scheme for the Mars pinpoint landing. The observability of navigation system is used as an index describing the navigation capability. Focusing on the relationship between the configuration of radio beacons and observability, the Fisher information matrix is introduced to analytically derive the degree of observability, which gives valuable conclusions for navigation system design. In order to improve the navigation performance, the navigation scheme is optimized by beacon configuration optimization, which gives the best locations of beacons (or the best orbit of navigation orbiters). This is the main approach to improve the navigation capability.

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“…International Journal of Aerospace Engineering 5 (A) If 1 is zero, (22) can be expressed in the following form:…”

Section: Guidance Law Design Using Terminal Smcmentioning

confidence: 99%

“…To reduce computing load, limited number of measurements can be used to obtain a suboptimal solution of FIM [19,22] and this paper uses two-step measurements.…”

Section: Optimal Observability Guidance Lawmentioning

confidence: 99%

Two-Phase Optimal Guidance Law considering Impact Angle Constraint with Bearings-Only Measurements

Wang

Tang

Guo

et al. 2017

International Journal of Aerospace Engineering

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The implementation of advanced guidance laws with bearings-only measurements requires estimation of the range information. To improve estimation accuracy and satisfy the impact angle constraint, this paper proposes a two-phase optimal guidance law consisting of an observing phase and an attacking phase. In the observing phase, the determinant of Fisher information matrix is maximized to achieve the optimal observability and a suboptimal solution expressed by leading angle is derived analytically. Then, a terminal sliding-mode guidance law is designed to track the desired leading angle. In the followed attacking phase, an optimal guidance law is integrated with a switching term to satisfy both the impact angle constraint and the field-of-view constraint. Finally, comparison studies of the proposed guidance law and a traditional optimal guidance law are conducted on stationary targets and maneuvering targets cases. Simulation results demonstrate that the proposed guidance law is able to improve the range observability and achieve better terminal performances including impact angle accuracy and miss distance.

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Cooperative localization between small UAVs using a combination of heterogeneous sensors

Cited by 50 publications

References 17 publications

Trajectory Optimization for Target Localization With Bearing-Only Measurement

Trajectory Optimization for Target Localization With Bearing-Only Measurement

Mars Networks-Based Navigation: Observability and Optimization

Two-Phase Optimal Guidance Law considering Impact Angle Constraint with Bearings-Only Measurements

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