Cooperative relative navigation for multi‐UAV systems by exploiting GNSS and peer‐to‐peer ranging measurements

Shen, Jiawen; Wang, Shizhuang; Zhai, Yawei; Zhan, Xingqun

doi:10.1049/rsn2.12023

Cited by 21 publications

(8 citation statements)

References 38 publications

(54 reference statements)

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“…developed a cooperative relative navigation method that exploited ranging sensor to assist the global navigation satellite system (GNSS) [23]. This method improved navigation accuracy and robustness.…”

Section: Ranade Et Al Developed Quadcopter Obstaclementioning

confidence: 99%

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Tamami

Sumantri

Kristalina

2021

J. Mechatron. Electr. Power Veh. Technol.

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An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.

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Section: Ranade Et Al Developed Quadcopter Obstaclementioning

confidence: 99%

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Tamami

Sumantri

Kristalina

2021

J. Mechatron. Electr. Power Veh. Technol.

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“…Group UAVs have prominent advantages such as high autonomy, multiple functions, timeliness, strong anti-damage ability and low cost. Their applications include logistics distribution, agricultural plant protection, reconnaissance and raids, electronic countermeasures, communication and navigation [1][2][3][4][5][6]. Group UAVs mainly use public resources to perform these tasks at present, which causes information leakage and communication interference between UAVs.…”

Section: Introductionmentioning

confidence: 99%

Reinforcement Learning-Based UAVs Resource Allocation for Integrated Sensing and Communication (ISAC) System

et al. 2022

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Due to the limited ability of a single unmanned aerial vehicle (UAV), group unmanned aerial vehicles (UAVs) have attracted more attention in communication and radar fields. The use of an integrated sensing and communication (ISAC) system can make communication and radar modules share a radar module’s resources, coupled with efficient resource allocation methods. It can effectively solve the problem of inadequate UAV resources and the low utilization rate of resources. In this paper, the resource allocation problem is addressed for group UAVs to achieve a trade-off between the detection and communication performance, where the ISAC system is equipped in group UAVs. The resource allocation problem is described by an optimization problem, but with group UAVs, the problem is complex and cannot be solved efficiently. Compared with the traditional resource allocation scheme, which needs a lot of calculation or sample set problems, a novel reinforcement-learning-based method is proposed. We formulate a new reward function by combining mutual information (MI) and the communication rate (CR). The MI describes the radar detection performance, and the CR is for wireless communication. Simulation results show that compared with the traditional Kuhn Munkres (KM) or the deep neural network (DNN) methods, this method has better performance with the increase in problem complexity. Additionally, the execution time of this scheme is close to that of the DNN scheme, and it is better than the KM algorithm.

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“…Such measurements include camera, Wi-Fi, Bluetooth, and ultra-wideband (UWB) transceiver. 8–13 Among them, UWB has received extensive attention due to its advantages of high accuracy, strong penetration, powerful anti-interference ability, and moderate layout complexity, compared with other technologies.…”

Section: Introductionmentioning

confidence: 99%

A hybrid cooperative navigation method for UAV swarm based on factor graph and Kalman filter

Chen

Xiong

2022

International Journal of Distributed Sensor Networks

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Navigation plays an important role in the task execution of the micro-unmanned aerial vehicle (UAV) swarm. The Cooperative Navigation (CN) method that fuses the observation of onboard sensors and relative information between UAVs is a research hotspot. Aiming at the efficiency and accuracy problems of previous studies, this article proposes a hybrid-CN method for UAV swarm based on Factor Graph and Kalman filter. A global Factor Graph is used to combine Global Navigation Satellite System (GNSS) and ranging information to provide position estimations for modifying the distributed Kalman filter; distributed Kalman filter is established on each UAV to fuse inertial information and optimized position estimation to modify the navigation states. In order to provide time-consistent GNSS position information for the Factor Graph, a time synchronization filter is designed. The proposed method is tested and verified using standard Monte Carlo simulations, simulation results show that it can provide a more precise and efficient CN solution than traditional CN methods.

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Cooperative relative navigation for multi‐UAV systems by exploiting GNSS and peer‐to‐peer ranging measurements

Cited by 21 publications

References 38 publications

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Reinforcement Learning-Based UAVs Resource Allocation for Integrated Sensing and Communication (ISAC) System

A hybrid cooperative navigation method for UAV swarm based on factor graph and Kalman filter

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