Location estimation algorithm using UAV for real environments

Masaya Tomiyama, Yuma Takeda, Takahiro Koita


Unmanned aerial vehicles (UAVs) have demonstrated substantial abilities at disaster sites, as they can be easily moved and are not affected by terrain conditions. The purpose of this study is to search for survivors in the UAV localization system. For this purpose, we explore a localization method using the Received Signal Strength Indicator (RSSI) when aerial photography cannot be used to find victims buried in rubble. We propose a method for estimating the position of disaster survivors using RSSI in an environment surrounded by obstacles. We conducted an experiment in an urban area to evaluate our proposed algorithm. Our proposed algorithm improves the accuracy of position estimation in disaster areas in crowded, obstacle-ridden situations. 


UAV; RSSI; flight algorithm; position estimation

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