Hoffmann, F;
Schily, H;
Krestel, M;
Charlish, A;
Ritchie, M;
Griffiths, H;
(2023)
Non-myopic Sensor Path Planning for Emitter Localization with a UAV.
In:
2023 26th International Conference on Information Fusion (FUSION).
IEEE: Charleston, SC, USA.
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Abstract
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.
| Type: | Proceedings paper |
|---|---|
| Title: | Non-myopic Sensor Path Planning for Emitter Localization with a UAV |
| Event: | 26th International Conference on Information Fusion, FUSION 2023 |
| ISBN-13: | 9798890344854 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.23919/FUSION52260.2023.10224174 |
| Publisher version: | https://doi.org/10.23919/FUSION52260.2023.10224174 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Location awareness, Antenna measurements, Radio frequency, Filtering, Directional antennas, Position measurement, Autonomous aerial vehicles |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10178826 |
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