Cooperative localization between small UAVs using a combination of heterogeneous sensors

Authors:   Wonsuk Lee, Hyochoong Bang, Henzeh Leeghim

Abstract:
A small Unmanned Aerial Vehicle (UAV) cannot be equipped with many sensors for target localization since it suffers drawbacks such as payload weight limit. However, such a shortcoming could be resolved by allocating sensors to multiple small UAVs through an information-sharing strategy. While many literatures have extensively studied cooperative maneuver with homogeneous sensors, cooperation of heterogeneous sensors (bearing-only and range-only sensors) has not been fully analyzed yet. Hence, this paper examines analytically and numerically characteristics of two UAVs, one with a bearing-only sensor and the other with a range-only sensor. This study shows that the resultant behavior differs considerably from that of cooperative maneuvers with homogeneous sensors.

Keywords:
Two small UAVs
Cooperative maneuver
Combination of heterogeneous sensors
Fisher information matrix (FIM)

Published in: Aerospace Science and Technology  (Volumes 27, Issue 1, June 2013)

Publisher: Elsevier

ISSN Information: 1270-9638

Cooperative localization between small UAVs using a combination of heterogeneous sensors

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