This paper presents a localization framework for multiple aerial vehicles (AVs) based on sensor fusion ofglobal positioning system (GPS) and the identification friend-or-foe (IFF) Radar system. The IFF-Radar play tworoles: firstly, it detects the angle and the range between two AVs, and thus the path between the two vehicles can bemodeled as a curve. Secondly, it detects which AV helps form the above curve, and receives the corresponding GPSinformation from the friend vehicle. Through the cooperation of the multiple AVs, not only GPS can work wellwith fewer satellites due to the block of canyon environments, but also differential GPS (DGPS) performance canbe achieved when the place is beyond the coverage of the DGPS. Theoretical analysis shows that two GPS satellitesare sufficient to obtain the location information with the help of two or more friend vehicles, and the performanceis as accurate as DGPS with the help of two or more friend vehicles. Simulations show that the proposed approachcan achieve better localization by the cooperation among multiple aerial vehicles than single aerial vehicle.
This paper presents a localization framework for multiple aerial vehicles (AVs) based on sensor fusion ofglobal positioning system (GPS) and the identification friend-or-foe (IFF) Radar system. The IFF-Radar play tworoles: firstly, it detects the angle and the range between two AVs, and thus the path between the two vehicles can bemodeled as a curve. Secondly, it detects which AV helps form the above curve, and receives the corresponding GPSinformation from the friend vehicle. Through the cooperation of the multiple AVs, not only GPS can work wellwith fewer satellites due to the block of canyon environments, but also differential GPS (DGPS) performance canbe achieved when the place is beyond the coverage of the DGPS. Theoretical analysis shows that two GPS satellitesare sufficient to obtain the location information with the help of two or more friend vehicles, and the performanceis as accurate as DGPS with the help of two or more friend vehicles. Simulations show that the proposed approachcan achieve better localization by the cooperation among multiple aerial vehicles than single aerial vehicle.