3D Self-Localisation From Angle of Arrival Measurements

Abstract

We propose a 3D self-localisation method that uses 3D angle of arrival (AOA) information (ie., azimuth and elevation measurements) from landmarks. The formulation is based on minimising the collinearity error between the estimated line of sight (LOS) to the landmark and the measured AOA. This method runs in two parts - initial estimation of the vehicle azimuth and position assuming the vehicle has no tilt, and iterative 3D pose estimation based on a small angle approximation approach. Simulation study indicates that this method is efficient, requiring a small number of iterations, globally convergent and robust.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2009
Accession Number
ADA501746

Entities

People

  • Hatem Hmam
  • Jijoong Kim

Organizations

  • Defence Science and Technology Group

Tags

Communities of Interest

  • Autonomy
  • Electronic Warfare
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Altitude
  • Angle Of Arrival
  • Electronic Warfare
  • Elevation
  • Geometry
  • Global Positioning Systems
  • Guidance
  • Inertial Navigation
  • Line Of Sight
  • Measurement
  • Navigation
  • Simulations
  • Three Dimensional
  • Unmanned Aerial Vehicles
  • Unmanned Ground Vehicles
  • Warfare

Readers

  • Aerospace Engineering.
  • Inertial Navigation Systems.
  • Operations Research