Multi-UAV wireless positioning using adaptive multidimensional scaling and extended Kalman filter

Simple item page
dc.contributor.authorYuan, Zongjian
dc.contributor.authorGuo, Weisi
dc.contributor.authorAl-Rubaye, Saba
dc.date.accessioned2023-01-18T14:14:30Z
dc.date.available2023-01-18T14:14:30Z
dc.date.issued2023-01-12
dc.description.abstractGlobal Navigation Satellite System (GNSS) signal can be blocked when flight vehicles operate in challenging environments such as indoor or adversarial environments. While multi-UAVs are teamed during flight, cooperative localization becomes available to tackle this challenge. Multidimensional Scaling (MDS) method has been well studied for cooperative localization of Wireless Sensor Network (WSN) based on radio frequency (RF) measurement. When noise RF measurement model is lacking, conventional weighted MDS method represents confidence with the measurements by assigning weights relying on distance information between each pair of nodes. In order to process non-distance RF measurements, we present an improved weighted MDS method which applies a novel weighting scheme. In this article, the proposed method conducts velocity estimation for multi-UAV system based on odometry and Frequency Difference of Arrival (FDOA) measurements. Furthermore, an extended Kalman Filter (EKF) algorithm is applied to refine the initial estimation of the MDS method and derive position estimation. Finally, numerical experiments demonstrate the robustness and accuracy of the adaptive MDS-EKF refinement framework for multi-UAV system localization in an unknown dynamic environment lacking measurement noise information.en_UK
dc.description.sponsorshipUK Government Foreign, Commonwealth and Development Office: Chevening Scholarship. European Union funding: 778305.en_UK
dc.identifier.citationYuan Z, Guo W, Al-Rubaye S. (2023) Multi-UAV wireless positioning using adaptive multidimensional scaling and extended Kalman filter. In: 2022 IEEE Globecom Workshops (GC Wkshps), 4-8 December 2022, Rio de Janeiro, Brazil, pp.1437-1441en_UK
dc.identifier.eisbn978-1-6654-5975-4
dc.identifier.isbn978-1-6654-5976-1
dc.identifier.urihttps://doi.org/10.1109/GCWkshps56602.2022.10008692
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18979
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectCooperative Localizationen_UK
dc.subjectWireless Signalen_UK
dc.subjectFDOAen_UK
dc.subjectMultidimensional Scalingen_UK
dc.subjectEKFen_UK
dc.subjectAdaptiveen_UK
dc.subjectGNSS-denieden_UK
dc.titleMulti-UAV wireless positioning using adaptive multidimensional scaling and extended Kalman filteren_UK
dc.typeConference paperen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Multi-UAV_wireless_positioning-2022.pdf
Size:
2.7 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)