Self UAV Localization Using Multiple Base Stations Based on TDoA Measurements

被引：6

作者：

Motie, Samaneh ^{[1
]}

Zayyani, Hadi ^{[1
]}

Salman, Mohammad ^{[2
]}

Bekrani, Mehdi ^{[1
]}

机构：

[1] Qom Univ Technol, Dept Elect & Comp Engn, Qom 3718146645, Iran

[2] Amer Univ Middle East, Coll Engn & Technol, Egaila 54200, Kuwait

来源：

IEEE WIRELESS COMMUNICATIONS LETTERS | 2024年 / 13卷 / 09期

关键词：

Location awareness; Autonomous aerial vehicles; Vectors; Position measurement; Time measurement; Global Positioning System; Cost function; Localization; TDoA; least squares; angle of arrival;

D O I：

10.1109/LWC.2024.3417271

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Localization of GPS-less UAV is fundamental for path planning and navigation. In this letter, a TDoA-based approach for self-localizing UAV is proposed. The approach utilizes multiple Base Stations (BSs) to obtain TDoA measurements without requiring exact UAV-BS synchronization. A reformulation of the measurements which relates the new transformed measurements to UAV's initial position is derived. A least squares (LS) approach is proposed to solve the nonlinear equations. Sufficient condition of convexity of the LS cost function has been proved mathematically and verified experimentally. Also, a condition on step-size is derived to assure the convergence of the algorithm. This leads to efficient solutions for minimization. Results show that the proposed method has outstanding performance, especially, when compared to RSS-based UAV localization method.

引用

页码：2432 / 2436

页数：5

共 20 条

[1] Autonomous 3-D UAV Localization Using Cellular Networks: Deep Supervised Learning Versus Reinforcement Learning Approaches [J].

Afifi, Ghada ;

Gadallah, Yasser .

IEEE ACCESS, 2021, 9 :155234-155248

[2] SARDO: An Automated Search-and-Rescue Drone-Based Solution for Victims Localization [J].

Albanese, Antonio ;

Sciancalepore, Vincenzo ;

Costa-Perez, Xavier .

IEEE TRANSACTIONS ON MOBILE COMPUTING, 2022, 21 (09) :3312-3325

[3] Exploiting Channel Correlations for NLOS ToA Localization With Multivariate Gaussian Mixture Models [J].

Geng, Chunhua ;

Yuan, Xin ;

Huang, Howard .

IEEE WIRELESS COMMUNICATIONS LETTERS, 2020, 9 (01) :70-73

[4] Numerical Investigation of an UWB Localization Technique for Unmanned Aerial Vehicles in Outdoor Scenarios [J].

Lazzari, Fabrizio ;

Buffi, Alice ;

Nepa, Paolo ;

Lazzari, Sandro .

IEEE SENSORS JOURNAL, 2017, 17 (09) :2896-2903

[5] Enhanced RSS-Based UAV Localization Via Trajectory and Multi-Base Stations [J].

Li, Yifan ;

Shu, Feng ;

Shi, Baihua ;

Cheng, Xin ;

Song, Yaoliang ;

Wang, Jiangzhou .

IEEE COMMUNICATIONS LETTERS, 2021, 25 (06) :1881-1885

[6] Cooperative Path Optimization for Multiple UAVs Surveillance in Uncertain Environment [J].

Liu, Daqian ;

Bao, Weidong ;

Zhu, Xiaomin ;

Fei, Bowen ;

Men, Tong ;

Xiao, Zhenliang .

IEEE INTERNET OF THINGS JOURNAL, 2022, 9 (13) :10676-10692

[7] RSS Localization Using an Optimized Fusion of Two Deep Neural Networks [J].

Mahdavi, Fatemeh ;

Zayyani, Hadi ;

Rajabi, Roozbeh .

IEEE SENSORS LETTERS, 2021, 5 (12)

[8] RSS Localization Using Multistep Linearization in the Presence of Unknown Path Loss Exponent [J].

Mei, Xiaojun ;

Chen, Yanzhen ;

Xu, Xiaofeng ;

Wu, Huafeng .

IEEE SENSORS LETTERS, 2022, 6 (08)

[9] Robust INS/GPS Sensor Fusion for UAV Localization Using SDRE Nonlinear Filtering [J].

Nemra, Abdelkrim ;

Aouf, Nabil .

IEEE SENSORS JOURNAL, 2010, 10 (04) :789-798

[10] Self-Organization as a Supporting Paradigm for Military UAV Relay Networks [J].

Orfanus, Dalimir ;

de Freitas, Edison Pignaton ;

Eliassen, Frank .

IEEE COMMUNICATIONS LETTERS, 2016, 20 (04) :804-807

← 1 2 →