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One typical application of unmanned aerial vehicles is the intelligence,surveillance, and reconnaissance mission, where the objective is to improvesituation awareness through information acquisition. For examples, an efficientway to gather information regarding a target is to deploy UAV in such a waythat it orbits around this target at a desired distance. Such a UAV motion iscalled circumnavigation. The objective of the paper is to design a UAV controlalgorithm such that this circumnavigation mission is achieved under aGPS-denied environment using range-only measurement. The control algorithm isconstructed in two steps. The first step is to design a UAV control algorithmby assuming the availability of both range and range rate measurements, wherethe associated control input is always bounded. The second step is to furthereliminate the use of range rate measurement by using an estimated range rate,obtained via a sliding-mode estimator using range measurement, to replaceactual range rate measurement. Such a controller design technique is applicablein the control design of other UAV navigation and control missions under aGPS-denied environment.

UAV Circumnavigating an Unknown Target Under a GPS-denied Environment with Range-only Measurements