# Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements

arXiv: https://arxiv.org/abs/1804.04317 · HTML: https://mlsanity.com/paper/1804.04317/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Apr 2018.

## Built on by (most cited first, 1 of 1)

- [Learning-based Measurement Scheduling for Loosely-Coupled Cooperative Localization](https://mlsanity.com/paper/2112.02843/) (2021)

## Abstract (arXiv)

A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals' direction of arrival with respect to Agent B's inertial navigation frame. Semidefinite programming and the Orthogonal Procrustes algorithm are employed, and accuracy is improved through maximum likelihood estimation. The method is validated using flight data and simulations. A three-agent extension is explored.