A Particle Filter-Based Method for Ground-Based WSN Localization Using an Aerial Robot

A particle filter-based algorithm for 3D localization of WSN (Wireless Sensor Network) nodes from an Unmanned Aerial Vehicle (UAV) is proposed. The algorithm uses the information obtained from RSSI measurements taken by a node located on-board the UAV together with its estimated position provided by the UAV navigation system. As the WSN nodes are assumed to be on the ground, Digital Elevation Model (DEM) data has been used to improve the accuracy of the estimation. WSN localization algorithms have typically been validated in short range scenarios. In this paper, field experiments have been carried out to validate the proposed algorithm in medium range scenarios. For this purpose real flights have been conducted with a fixed-wing UAV flying up to 1.5 km away from the transmitter to be located. During the flights the algorithm was running on an on-board embedded computer and the estimated position was sent to the ground control station for monitoring purposes. The results of these experiments are presented in this paper.

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