《[国际无人机进展杂志]Dynamic Localization of Air-Ground_fulltext》.pdf

Chapter 14: Dynamic Localization of Air-Ground Wireless Sensor Networks1 This Chapter presents an air-ground localization approach in which ground nodes in collaboration with unmanned aerial vehicles (UAVs) generate op- timal position estimates. The ground nodes support local sensing and communication, while unmanned aerial vehicles equipped with GPS may be used to localize the ground nodes network absolutely. 14.1 Introduction The role of autonomous surveillance has proven to be important and appli- cable to a wide range of applications such as target location, map building, border security, pollution monitoring and control, and battle damage as- sessment. UAVs fit into the scenario of autonomous surveillance perfectly as they involve a low risk factor and facilitate technological advancements, making their use feasible in real world scenarios. UAVs are generally clas- sified by their flight altitude, launch and recovery methods as detailed [23]. UAVs, together with randomly deployed stationary unattended ground sensors (UGS) can further enhance the performance of the autonomous surveillance tasks mentioned above. Since the information collected from UGS is of limited use if no information about the sensor position is avail- able, the task of localizing the sensor nodes is of prime importance for sen- sor network applications. This Chapter discusses an air-ground localization scheme in which (UGS) nodes, with the aid of UAVs having on board GPS, generate their optimal position estimates. Localization is classified in two categories: relative and absolute local- ization. In relative localization the sensor nodes are localized using the dis- tances measured among the nodes with respect to an arbitrary internal co- 1 Written by P. Dang, F. L. Lewis, D. O. Popa. This work was supported in part by the following grants: NSF Grant IIS-0326505, NSF