Multi‐UAVs Cooperative Localization Algorithms with Communication Constraints

Communication is the basis of multi‐UAVs cooperative localization. There will be some communication delay and packet loss when one UAV communicates with others, and these communication restrictions may have negative influences on multi‐UAV cooperative localization. In this paper, the communication among UAVs is described as Bernoulli random variables, and two kinds of cooperative localization algorithms are proposed. One is centralized algorithm, where a kind of one‐step prediction strategy is designed. The other is distributed algorithm, where a kind of prediction‐compensation strategy is proposed and weighted expectation state estimation method is designed. Simulation results show the effectiveness of the proposed algorithms.