Multi-UAV Trajectory Optimization for Bearing-Only Localization in GPS Denied Environments

• URL: http://arxiv.org/abs/2602.11116v1
• Date: Wed, 11 Feb 2026 18:29:05 GMT
• Title: Multi-UAV Trajectory Optimization for Bearing-Only Localization in GPS Denied Environments
• Abstract summary: This work presents a new trajectory optimization framework that enables cooperative target localization using UAVs with fixed, non-gimballed cameras.<n>Results demonstrate that coordinated UAVs with fixed, non-gimballed cameras achieve localization accuracy that meets or exceeds that of single gimballed systems.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate localization of maritime targets by unmanned aerial vehicles (UAVs) remains challenging in GPS-denied environments. UAVs equipped with gimballed electro-optical sensors are typically used to localize targets, however, reliance on these sensors increases mechanical complexity, cost, and susceptibility to single-point failures, limiting scalability and robustness in multi-UAV operations. This work presents a new trajectory optimization framework that enables cooperative target localization using UAVs with fixed, non-gimballed cameras operating in coordination with a surface vessel. This estimation-aware optimization generates dynamically feasible trajectories that explicitly account for mission constraints, platform dynamics, and out-of-frame events. Estimation-aware trajectories outperform heuristic paths by reducing localization error by more than a factor of two, motivating their use in cooperative operations. Results further demonstrate that coordinated UAVs with fixed, non-gimballed cameras achieve localization accuracy that meets or exceeds that of single gimballed systems, while substantially lowering system complexity and cost, enabling scalability, and enhancing mission resilience.

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