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A GPS-denied UAV (Agent B) is localised through INS alignment with the aid ofa nearby GPS-equipped UAV (Agent A), which broadcasts its position at severaltime instants. Agent B measures the signals' direction of arrival with respectto Agent B's inertial navigation frame. Semidefinite programming and theOrthogonal Procrustes algorithm are employed, and accuracy is improved throughmaximum likelihood estimation. The method is validated using flight data andsimulations. A three-agent extension is explored.

Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements