Sequentially Localizing LoRa Terminals with A Single UAV

The positioning of wild animals usually requires long-distance, high-precision, low-energy positioning technology, and most of the existing methods use GPS, RFID, etc., either high power consumption, high cost, or small ranging range, low accuracy. This paper comprehensively considers the needs of out-door scene positioning, and combines the characteristics of LoRa technology and drones to solve the problem that it is difficult to achieve the best cost, energy consumption and positioning error in outdoor positioning. A sequential localization algorithm for two scenarios of single / multiple LoRa terminals is proposed. Based on the Cramer-Rao lower bound theory, the Unmanned Air Vehicle(UAV) trajectory is optimized to minimize the LoRa terminal positioning error at extremely low cost and energy consumption. The simulation results show that the proposed method effectively improves the accuracy of positioning LoRa terminals, and provides theoretical guidance for the deployment of single UAV as mobile base station in positioning.