A Novel Semidefinite Programming-based UAV 3D Localization Algorithm with Gray Wolf Optimization

Abstract

The unmanned aerial vehicle (UAV) network has gained vigorous evolution in recent decades by virtue of its advanced nature, and UAV-based localization techniques have been extensively applied in a variety of fields. In most applications, the data captured by a UAV are only useful when associated with its geographic position. Efficient and low-cost positioning is of great significance for the development of UAV-aided technology. In this paper, we investigate an effective three-dimensional (3D) localization approach for multiple UAVs and propose a flipping ambiguity avoidance optimization algorithm. Specifically, beacon UAVs take charge of gaining global coordinates and collecting distance measurements from GPS-denied UAVs. We adopt a semidefinite programming (SDP)-based approach to estimate the global position of the target UAVs. Furthermore, when high noise interference causes missing distance pairs and measurement errors, an improved gray wolf optimization (I-GWO) algorithm is utilized to improve the positioning accuracy. Simulation results show that the proposed approach is superior to a number of alternative approaches.

Keywords

• unmanned aerial vehicles
• three-dimensional localization
• semidefinite programming
• flipping ambiguity avoidance
• gray wolf optimization