Relative navigation of UAV swarm in a GPS-denied environment

Djedjiga Belfadel; David Haessig; Cherif Chibane

doi:10.1117/12.2664917

14 June 2023 Relative navigation of UAV swarm in a GPS-denied environment

Djedjiga Belfadel, David Haessig, Cherif Chibane

Proceedings Volume 12547, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII; 125470G (2023) https://doi.org/10.1117/12.2664917
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States

Abstract

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.

Conference Presentation

Citation Download Citation

Djedjiga Belfadel, David Haessig, and Cherif Chibane "Relative navigation of UAV swarm in a GPS-denied environment", Proc. SPIE 12547, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII, 125470G (14 June 2023); https://doi.org/10.1117/12.2664917

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