Single UAV-Based Wave Source Localization in NLOS Environments

Abstract

SUMMARY To localize an unknown wave source in non-line-of-sight environments, awavesourcelocalizationschemeusingmultipleunmanned-aerial-vehicles (UAVs) is proposed. In this scheme, each UAV estimates the direction-of-arrivals (DoAs) of received signals and the wave source is localized from the estimated DoAs by means of maximum likelihood estimation. In this study, by extending the concept of this scheme, we propose a novel wave source localization scheme using a single UAV. In the proposed scheme, the UAV moves on the path comprising multiple measurementpointsandthewavesourceissequentiallylocalizedfromDoAdistributionsestimatedatthesemeasurementpoints.Ateachmeasurement point,witha moving path planning algorithm , the UAV determines the next measurement point from the estimated DoA distributions and measurement points that the UAV has already visited. We consider two moving path planning algorithms, and validate the proposed scheme through simulation experiments.