3D Cooperative Localization in UAV Systems: CRLB Analysis and Security Solutions
arxiv(2024)
摘要
This paper presents a robust and secure framework for achieving accurate and
reliable cooperative localization in multiple unmanned aerial vehicle (UAV)
systems. The Cramer-Rao low bound (CRLB) for the three-dimensional (3D)
cooperative localization network is derived, with particular attention given to
the non-uniform spatial distribution of anchor nodes. Challenges of mobility
and security threats are addressed, corresponding solutions are brought forth
and numerically assessed . The proposed solution incorporates two key
components: the Mobility Adaptive Gradient Descent (MAGD) and Time-evolving
Anomaly Detection (TAD). The MAGD adapts the gradient descent algorithm to
handle the configuration changes in cooperative localization systems, ensuring
accurate localization in dynamic scenarios. The TAD cooperates with reputation
propagation (RP) scheme to detect and mitigate potential attacks by identifying
malicious data, enhancing the security and resilience of the cooperative
localization.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要