Cooperative Localization of Unmanned Aerial Vehicles in Time-Invariant Formation
摘要
This paper presents a leader-follower cooperative navigation framework for UAV localization, facilitated by ground anchors, wherein distance between UAVs is measured. Concurrently, a novel model is proposed for distance and angle measurement, introduced to reduce nonlinear errors in the measurement model, and further minimize the minimum quantity of required anchors. Simulation experiments demonstrate that this algorithm can maintain precise cooperative state estimations while the UAV swarm executes time-invariant formation movements, and remarkably, only requires a single ground anchor.