Toward aerial simultaneous target localization and obstacle estimation using RSSI observations

This paper represents simultaneous estimation of an RF source location and the location and height of an obstacle between the RF source and a UAV using RSSI observations. The aim is to improve the localization of the RF source by estimating the location and height of the obstacle. The effect of the obstacle on signal strength attenuation, i.e. the diffraction loss, is the most important reason that affects the performance of distance estimation based on general or empirical path loss model. Consequently, by estimating the effect of obstacle on attenuation, it will be possible to improve the accuracy of distance estimation according to path loss models. The simultaneous estimation of radio source location and the specification of an existing obstacle are implemented using particle filter, due to the complexity and nonlinear nature of the equations related to the calculation of diffraction loss. The simulation results show an improved performance of suggested filter, compared to the basic case of not estimating the obstacle.