An active beacon-based target localization method for Unmanned Aerial Vehicles with particle filter

摘要

This paper proposes a method of searching for missing people in mountains by UAVs (Unmanned Aerial Vehicles) based on beacon signals. This method alternately updates the distribution of estimated target position and unknown parameters by particle filtering, and determines the next best observation location based on the idea of the uncertainty sampling. We will show how this method can be integrated with both of the range-based and range-free localization algorithms, and demonstrate the efficiency of it in a simulation study.