Convergence analysis of state estimation for UAV formation under GPS‐denied environments
Yu Ding,
Zhengye Wang,
Yirui Cong
et al.
Abstract:In this article, we focus on the state estimation and formation control problem for a multi‐UAV system, where only parts of UAVs have GPS measurements, that is, the anchors, and the other UAVs measure their relative positions with anchors. With a second‐order discrete‐time model of each UAV in the formation, we analyze the convergence of state estimation (including its expectation and covariance) for commonly used consensus‐based formation control protocols, under the effect of control and measurement noise. M… Show more
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