Autonomous maneuvering of relay UAV for battlefields using TDOA localization

In this paper, we propose a scheme in which a communication relay unmanned aerial vehicle (UAV) estimates the distribution of the terminals and selects the optimal relay position for autonomous maneuvering. In order to accomplish mission success, warfighters on the battlefield must communicate with their commander all the time. Autonomous maneuvering of a relay UAV using the proposed scheme will support their communication and mission command effectively. In the first step of the proposed scheme, the UAV estimates the distribution of the terminals using the time difference of arrival of the received signal. Once the distribution of the terminals is estimated, in the second step, the optimal relay position and altitude are determined, and the UAV maneuvers itself to relay communications. By using this scheme, there is no need to exchange specific location information, and the optimal point can be provided from the beginning of flight. In addition, this scheme has the advantage of continuous relaying at minimum power. To verify the validity and parameters of the proposed scheme, various simulations are executed and indicate the possibility of utilization in the field.