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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 1943539, 8 pages
Research Article

Multi-UAVs Cooperative Localization Algorithms with Communication Constraints

1School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi 710129, China
2Shenyang Aircraft Design and Research Institute, Shenyang, Liaoning 110035, China

Correspondence should be addressed to Xiaowei Fu

Received 4 June 2017; Revised 31 July 2017; Accepted 3 August 2017; Published 7 September 2017

Academic Editor: Filippo Cacace

Copyright © 2017 Xiaowei Fu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.