This paper addresses the problem of localizing a stationary RF emitter with a mobile UAV, equipped with a single directional antenna. By rotating around its vertical axis, it determines a bearing towards the emitter. Our interest is in optimally selecting the measurement positions to achieve a fast localization. The majority of such systems described in the literature use greedy planning to select the next measurement position. This work experimentally tests an algorithm that performs a non-myopic planning until the final localization step. The algorithm is based on the policy rollout principle and showed good performance in previous simulative studies. It is adapted to match the needs of a real world setup and evaluated in flight trials. Adaptions include the avoidance of close range measurements to prevent inaccurate measurements at high elevation, and the filtering of poor measurements.


    Access

    Download


    Export, share and cite



    Title :

    Non-myopic Sensor Path Planning for Emitter Localization with a UAV


    Contributors:
    Hoffmann, F (author) / Schily, H (author) / Krestel, M (author) / Charlish, A (author) / Ritchie, M (author) / Griffiths, H (author)

    Publication date :

    2023-08-25


    Remarks:

    In: 2023 26th International Conference on Information Fusion (FUSION). IEEE: Charleston, SC, USA. (2023)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 290



    Sensor Path Planning for Emitter Localization

    Hoffmann, Folker | BASE | 2023

    Free access



    Calibration Signal-Assisted Emitter Localization Under Sensor Position Uncertainty

    You, Ming-Yi / Pu, Wenqiang / Zhou, Rui et al. | IEEE | 2025


    Single-sensor RF emitter localization based on multipath exploitation

    O'connor, Alan / Setlur, Pawan / Devroye, Natasha | IEEE | 2015