Jul 2026· International Symposium on Communication Systems, Networks and Digital Signal Processing· pp. 1-6· 0 citations· 14 references
Computer Science
Abstract
This paper presents a three-dimensional (3D) unmanned aerial vehicle (UAV) localization framework based on optical round-trip time (RTT) ranging and multilateration. Multiple fixed optical transmitters estimate distances via laser reflections from a UAV equipped with passive retroreflectors, enabling infrastructure-assisted localization without active onboard hardware or additional energy consumption. The system model incorporates additive Gaussian ranging noise, and the localization problem is formulated as a non-linear least-squares estimation problem. Monte Carlo simulations demonstrate a median localization error of approximately 0.055 m, with 90% and 95% of errors below 0.11 m and 0.14 m, respectively, under centimeter-level ranging noise. The results show that localization accuracy depends on transmitter geometry and UAV altitude, with errors increasing at higher altitudes and under larger noise levels. Furthermore, increasing the number of transmitters improves accuracy through enhanced measurement redundancy. The results provide practical design guidelines for optical UAV tracking systems.
A monocular 3D localization framework using a prebuilt, georegistered triangular mesh using a two-dimensional grid indexes the mesh, and a progressive multi-scale strategy loads high-resolution blocks for ray–mesh intersection.
Yan-Xin Sun, Ming-Ming Ma, Lan-Yu Sun et al.· Electronics· 0 citations
Emerging to support the burgeoning low-altitude economy, the low-altitude wireless network (LAWN) serves as a mobile infrastructure with unified connectivity and sensing capabilities. As the primary enablers of this network, unmanned aerial vehicles (UAVs) are required to go beyond self-localization to perceive surroun...
Ziang Yang, Hong-Liang Zhang, Bo-Ya Di et al.· IEEE Transactions on Communi...· 0 citations
A modular architecture coupling an online maximum-likelihood polynomial least-squares ranging front-end with a fading split covariance intersection cooperative back-end through a per-link variance interface delivers the trustworthy uncertainty that safety-critical swarm decisions require in GNSS-denied flight.
The synthesis indicates that LiDAR remains a strong perceptual backbone for UAV autonomy, but that state-of-the-art systems increasingly combine it with inertial, visual, radar, and learning-based components rather than relying on LiDAR in isolation.
Svitlana Pavlova, V. Chepizhenko, Fu-Zhong Li et al.· Applied Sciences· 0 citations
This letter presents the first mmWave RADAR-based perception-and-control system for fast onboard DOA, and derives and analyzes latency and spatial bounds that relate sensing range, relative speed, and control delay, yielding sufficient conditions for successful avoidance.
The paper categorises localisation technologies into four broad groups: memory-dependent, adaptive learning-based, stateless and hybrid localisation technologies, and highlights the strengths and weaknesses of each approach, emphasising the need for data fusion methods to balance cost, accuracy, and robustness in auton...
Jerry James, Naveen Gupta, Ravi Kadlimatti· IEEE Open Journal of the Com...· 0 citations
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