Group coordination and path replan tactics in GPS denied environments

Success of a cooperative mission entirely depends on precise navigation information of each UAV. Though present day UAVs are equipped with GPS, the UAVs have to rely only on navigation information obtained from inertial navigation system while operating in GPS denied environments. This research work, addresses the problem of establishing a GPS protected wireless MAV network (WIMAN) using three classes of navigation system, one equipped only with GPS, an other equipped only with high accuracy inertial navigation system and the third equipped with relatively low accuracy inertial navigation system, to enable missions in GPS denied environments. NP hardness in establishing GPS protected WIMAN architecture is discussed and a heuristic algorithm is proposed. Group coordination and tactical replan procedures, that enable WIMAN to maintain its configuration, reconfiguration to adapt to various phases of cooperative threat reconnaissance mission, is demonstrated through simulation results.