Performance analysis for TDOA localization using UAVs with flight disturbances

In this paper, passive source localization of time-difference-of-arrival (TDOA) is investigated using a swarm of UAVs. First, the measurement model with a parameter dependent variance is introduced. The Cramer-Rao low bound(CRLB) is calculated with parameter dependent of the incoming measurements. Then a method for optimizing UAVs trajectories based on CRLB is proposed. The Dryden model is applied and the performance of the disturbance-TDOA localization is analyzed in terms of root mean square error (RMSE). Simulations confirm the online optimization enables a high accuracy and show robust in the disturbance situations.

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