Single- and Multi-UAV Trajectory Control in RF Source Localization

Abstract

In this paper, two trajectory control approaches are presented for any number of unmanned aerial vehicles (UAVs) in radio frequency (RF) source localization. The UAVs observe the received signal strength (RSS) in distinctive time intervals to localize a stationary RF source. The location of the source is estimated recursively applying the extended Kalman filter. The objective of the optimal trajectory control is to steer the UAVs to the locations which minimize the uncertainty about the target state. The Fisher information matrix (FIM) is inversely proportional to the estimation variance. Since the true target state is unknown, the FIM is approximated by the estimated target state. Two criteria based on the approximated FIM are applied to measure the information content of the observations to optimize the UAV waypoints: The D-optimality and the A-optimality. The objective of the present paper is to propose two trajectory control approaches for any number of UAVs in RSS-based localization to increase the target localization accuracy. The superiority of the trajectory optimization approach based on the D-optimality in terms of mean squared error is illustrated through simulation examples.