Relative Estimation and Control for Loyal Wingman MUM-T

The gradual integration of Manned–Unmanned Teaming (MUM-T) is gaining increasing significance. An intriguing feature is the ability to do relative estimation solely through the use of the INS/GPS system. However, in certain environments, such as GNSS-denied areas, this method may lack the necessary accuracy and reliability to successfully execute autonomous formation flight. In order to achieve autonomous formation flight, we are conducting an initial investigation into the development of a relative estimator and control laws for MUM-T. Our proposal involves the use of a quaternion-based relative state estimator to combine GPS and INS sensor data from each UAV with vision pose estimation of the remote carrier obtained from the fighter. The technique has been validated through simulated findings, which paved the way for the experiments explained in the paper.