Seyyed Mohammad Mehdi Dehghan, Hadi Moradi, Mahmoud Shahabadi, and Mojtaba Farmani
Aerial localization, RF source, NLOS propagation, fusion, differential RSSI, AOA, particle filter, CRLB analysis.
In this paper, the fusion of differential received strength signal indicator (DRSSI) and angle of arrival (AOA) for recursive local- ization of an RF source with unknown transmitted power in none line of sight (NLOS) condition has been introduced. Incorporating DRSSI observations with a low-resolution AOA sensor resolves the sign ambiguity problem and decreases the dependency of DRSSI- based approach to its waypoints pairing rule. Also, the fusion of these different sensors has been proposed to benefit from both DRSSI and AOA methods using their complementary performance in different propagation conditions. The better performance of this hybrid approach is proven using Cramer-Rao lower bound (CRLB) analysis. The proposed method has been implemented using particle filter due to non-linearity of the estimation, non-Gaussian term in AOA propagation, non-modelled non-linear dynamics in practical circumstances, and more robustness against the uncertainties in the propagation parameters. The results show that the proposed fusion approach has better accuracy than RSSI, AOA, or hybrid RSSI and AOA approaches, without adding significant computational load.
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