SCIENCE CHINA Information Sciences, Volume 62 , Issue 1 : 010204(2019) https://doi.org/10.1007/s11432-018-9579-3

Cooperative geometric localization for a ground target based on the relative distances by multiple UAVs

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  • ReceivedJun 27, 2018
  • AcceptedJul 19, 2018
  • PublishedDec 20, 2018



This work was supported by National Natural Science Foundation of China (Grant No. 61473229).


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  • Figure 1

    (Color online) Example of cooperative localization using three UAVs.

  • Figure 4

    (Color online) Location errors mapped with measurement errors. (a) ${\sigma~_1}=~0.001$, 0.002, 0.003, 0.004; (b) ${\sigma~_1}=~0.005$, 0.006, 0.007, 0.008.

  • Table 1   Initial locations of UAVs
    UAV Location (km, km, km)
    UAV1 ($6370.1,19.5,1$)
    UAV2 ($6371.9,19.5,1$)
    UAV3 ($6371.1,20.9,1$)