Experimental Performance of Signal Source Localization Based on Distributed DoA Measurements

A prototype of a UAV-based narrow-band signal source localization system is developed and field tested in small-scale environments. The equipment installed in the UAV measures only the DoAs of the signal. The DoAs are combined with the position and posture sensor data of the UAV to localize the signal source. Nonlinear filtering and incremental localization are employed in order to overcome noisy observation and to shorten the localization latency. Results of a small-scale test are provided and discussed for further improvement.