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Cooperative Localization of MAVs in GPS Denied Environment

D. Ghose


This paper addresses the problem of establishing a GPS protected wireless Micro Aerial Vehicle (MAV) network (WIMAN) using three groups of MAVs, one equipped only with GPS, other equipped only with high accuracy inertial navigation system (INS) and another equipped with relatively low accuracy INS. The true position of each MAV is computed as a convex linear combination of the barycentric coordinates of the MAV with respect to their neighbors, which are determined from the Cayley-Menger determinants. NP-hardness in achieving GPS protected WIMAN architecture is discussed and a heuristic solution is proposed for the problem. The WIMAN performance with cooperative localization in presence of INS error and communication distortions in GPS denied environment is demonstrated through simulation results.

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