Indoor localization of unmanned aerial vehicles based on RSSI

Nowadays, finding the Unmanned Aerial Vehicle (UAV) position in the absence of GPS is attractive and challenging problem in the research community. In this paper, we present a novel algorithm for mini UAV indoor localization based on distance measurements between the UAV and the existing infrastructure consisting of WiFi Access Points. Our algorithm uses two well-known techniques from the literature: Multi-dimensional Scaling (MDS) and Weighted Centroid Localization (WCL). Through extensive simulations we have shown that our algorithm is very suitable for indoor localization of mini UAVs. For small radio-range error, our algorithm exhibits a small localization error of less than 5% of the radio range.