Year: 2025
Type: preprint
Abstract: This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio signals received from users collected by a UAV at different locations. Since the UAV's location might not be perfectly known, the problem becomes about simultaneously localizing the users and tracking the UAV's position. To solve this problem, we employed a least-squares simultaneous localization and mapping (SLAM) framework to fuse ToA data and the estimate of UAV location available from global positioning system (GPS). We verified the performance of the developed algorithm through real-world experimentation.
Source: arXiv (Cornell University)
Language: English
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6979338143
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