A Multi-Antenna-based Active Tracking System for Localization of Invasive Hornet Vespa velutina

Herein, we design three experiments to prove the traceability of a multi-antenna-based active tracking system by using an unmanned aerial vehicle (UAV) in variable environments and actual Vespa velutina. In the first experiment, the movement of Vespa velutina with an attached sensor is measured, and it is checked whether there is a difference between the measurements obtained with and without the attached sensor. In the second experiment, we track a small drone instead of a Vespa velutina, which cannot provide ground truth data, and compare and analyze the path of the small drone with the tracking path of the UAV. In the third experiment, we track an actual Vespa velutina in various environments, in addition to measuring and evaluating the distance between the UAV and the target at the end of tracking, the localization result, and the tracking path. The experimental results will help to prove that transmitter attachment does not affect the target and traceability of the multi-antenna-based active tracking system when it is attached to real Vespa velutina.