A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning
Currently, the Global Navigation Satellite System (GNSS) plays a critical role in providing position information for UAVs. Traditional GNSS receivers typically employ the scalar-tracking (ST) method to track signals and extract observations. An advanced alternative to ST is the Vector Delay Lock Loo...
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MDPI AG
2025-06-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/17/13/2156 |
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| author | Chuntao Li Xinru Wang Changhui Jiang Zikang Su Shoubin Chen Yuwei Chen |
| author_facet | Chuntao Li Xinru Wang Changhui Jiang Zikang Su Shoubin Chen Yuwei Chen |
| author_sort | Chuntao Li |
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| description | Currently, the Global Navigation Satellite System (GNSS) plays a critical role in providing position information for UAVs. Traditional GNSS receivers typically employ the scalar-tracking (ST) method to track signals and extract observations. An advanced alternative to ST is the Vector Delay Lock Loop (VDLL), which enables more reliable navigation solution estimation for GNSS receivers. To enhance GNSS positioning performance for UAVs, this paper proposes a cooperative VDLL (CoVDLL) that incorporates ranging information. While single VDLL (S-VDLL) explores the inherent relationship between signal tracking parameters and navigation solutions, the CoVDLL leverages signal tracking parameters from multiple UAVs along with their ranging data. To optimize navigation solution estimation in the CoVDLL, a Factor Graph Optimization (FGO) algorithm is employed to realize the navigation solution’s optimal estimation. Experiments conducted under various settings demonstrate that the CoVDLL method reduces positioning errors by an average of approximately 30% compared to the single-VDLL approach. |
| format | Article |
| id | doaj-art-c474af2c77ce4f69b3b9de89c6a73fbc |
| institution | Matheson Library |
| issn | 2072-4292 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
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| series | Remote Sensing |
| spelling | doaj-art-c474af2c77ce4f69b3b9de89c6a73fbc2025-07-11T14:42:17ZengMDPI AGRemote Sensing2072-42922025-06-011713215610.3390/rs17132156A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs PositioningChuntao Li0Xinru Wang1Changhui Jiang2Zikang Su3Shoubin Chen4Yuwei Chen5College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaGuangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen 518060, ChinaSchool of Physics and Optoelectronic Engineering, Hangzhou Institute for Advanced Study (UCAS), Hangzhou 310024, ChinaCurrently, the Global Navigation Satellite System (GNSS) plays a critical role in providing position information for UAVs. Traditional GNSS receivers typically employ the scalar-tracking (ST) method to track signals and extract observations. An advanced alternative to ST is the Vector Delay Lock Loop (VDLL), which enables more reliable navigation solution estimation for GNSS receivers. To enhance GNSS positioning performance for UAVs, this paper proposes a cooperative VDLL (CoVDLL) that incorporates ranging information. While single VDLL (S-VDLL) explores the inherent relationship between signal tracking parameters and navigation solutions, the CoVDLL leverages signal tracking parameters from multiple UAVs along with their ranging data. To optimize navigation solution estimation in the CoVDLL, a Factor Graph Optimization (FGO) algorithm is employed to realize the navigation solution’s optimal estimation. Experiments conducted under various settings demonstrate that the CoVDLL method reduces positioning errors by an average of approximately 30% compared to the single-VDLL approach.https://www.mdpi.com/2072-4292/17/13/2156GNSScooperative vector trackingfactor graph optimization |
| spellingShingle | Chuntao Li Xinru Wang Changhui Jiang Zikang Su Shoubin Chen Yuwei Chen A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning Remote Sensing GNSS cooperative vector tracking factor graph optimization |
| title | A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning |
| title_full | A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning |
| title_fullStr | A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning |
| title_full_unstemmed | A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning |
| title_short | A Cooperative GNSS Vector-DLL (CoVDLL) Method for Multiple UAVs Positioning |
| title_sort | cooperative gnss vector dll covdll method for multiple uavs positioning |
| topic | GNSS cooperative vector tracking factor graph optimization |
| url | https://www.mdpi.com/2072-4292/17/13/2156 |
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