RF Source Localization using Unmanned Aerial Vehicle with Particle Filter

Abstract

In this paper, we propose a solution for the localization problem of a radio frequency (RF) emitting source over a large scale environment with unmanned aerial vehicle (UAV). Target localization using received signal strength indicator(RSSI) is one of the most challenging problem because of noise characteristics. To evaluate the noise effect on RSSI, we perform a RSSI measurement test. This adds value for proper model and helps to implement a more realistic simulation system. For the localization process, the particle filter is utilized in this paper instead of tools such as Extended Kalman Filter with multi UAVs. Simulation environment and software-in-the-loop system are prepared to exhibit the conceptual proof with realistic models and autopilot system. Simulation results show that, mean search time for localization is 84.06 seconds and mean distance error is 13.96 meters.