A precise relative localization system is a crucial necessity for a swarm of Unmanned Aerial Vehicles (UAVs), particularly when collaborating on a task. This paper aims to provide an alternative navigation system to enable a swarm of UAVs to conduct autonomous missions in a Global Positioning System (GPS)-denied environment. To achieve this goal, this paper proposes a relative navigation system using an Extended Kalman Filter (EKF) fusing observations from the on-board Inertial Measurement Unit (IMU) with ranging measurements obtained from the on-board ranging sensors. To ensure secure and high data communication rates, the system employs two waveforms and a low-cost beam-switching phased array. This system thus enables drone operations even in GPS-denied environments. We demonstrate the effectiveness of our approach through simulation experiments involving a swarm of six drones, which includes three fixed and three moving drones in a challenging Blue-Angel scenario. The evaluation of the statistical tests on the results of the simulations shows that this method is efficient.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Relative navigation of UAV swarm in a GPS-denied environment


    Contributors:

    Conference:

    Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII ; 2023 ; Orlando, Florida, United States


    Published in:

    Proc. SPIE ; 12547


    Publication date :

    2023-06-14





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Relative navigation approach for vision-based aerial GPS-denied navigation

    Leishman, Robert C. / McLain, Timothy W. / Beard, Randal W. | IEEE | 2013


    Leader-Follower Control and Distributed Communication based UAV Swarm Navigation in GPS-Denied Environment

    Kilic, Fatih / Yang, Huan / Hardt, Wolfram | DataCite | 2023

    Free access

    UAV Swarm Navigation in GNSS Denied Region with Formation Control

    Jain, Priyanshi / Qureshi, Rohaan / Nallanthighal, Raghava | IEEE | 2023