Abstract
This paper proposes a novel technique for radio frequency transmission sources (RFTS) localization in outdoor environments using a formation of autonomous Micro Aerial Vehicles (MAVs) equipped with a rotating directional antenna. The technique uses a fusion of received signal strength indication (RSSI) and angle of arrival (AoA) data gained from dependencies of RSSI on angle measured by each directional antenna. An Unscented Kalman Filter (UKF) based approach is used for sensor data fusion and for estimation of RFTS positions during each localization step. The proposed method has been verified in simulations using noisy and inaccurate measurements and in several successful real-world outdoor deployments.
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Notes
- 1.
https://www.digi.com/resources/documentation/digidocs/pdfs/90002002.pdf (last accessed on 31/10/2018).
- 2.
https://youtu.be/lpT_dYN07Gg (last accessed on 31/10/2018).
- 3.
https://youtu.be/oLTGGI9qxHQ (last accessed on 31/10/2018).
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Acknowledgments
This research was supported the Grant Agency of the Czech Republic under grant no. 17-16900Y, by student CTU grant no. SGS17/187/OHK3/3T/13, and by OP VVV MEYS funded project CZ.02.1.01/0.0/0.0/16_019/0000765 “Research Center for Informatics”.
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Pritzl, V., Vojtěch, L., Neruda, M., Saska, M. (2019). Real-Time Localization of Transmission Sources by a Formation of Helicopters Equipped with a Rotating Directional Antenna. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_25
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