Title: Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements,
Abstract: A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of
a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several
time instants. Agent B measures the signals' direction of arrival with respect
to Agent B's inertial navigation frame. Semidefinite programming and the
Orthogonal Procrustes algorithm are employed, and accuracy is improved through
maximum likelihood estimation. The method is validated using flight data and
simulations. A three-agent extension is explored.