Localization of UAV in Urban Scenario Using Multipath Exploiting TDoA Fingerprints

摘要

This paper presents a localization procedure to locate UAV in an urban scenario and improve the Time Difference of Arrival (TDoA) performance in Non-line of Sight (NLoS) situation. The idea is to use ray-tracing simulation and Time Difference of Arrival (TDoA) to build a geographic information database that reproduces the "site-specific" multipath patterns that enhance the position estimation performance in multipath scenarios. The conventional emitter location systems based on TDoA sensors mitigate errors trying to avoid NLoS measurements, while the proposed method, uses the multipath information to extract the time of arrival characteristic from the environment. A measurement campaign was done to validate the technique and showed an enhancement in the localization processing, depending on the precision of the buildings and obstacles information.