On the Performance Analysis of Cooperative Active Round-trip Ranging and Passive Hyperbolic Localization for UAV Surveillance

Unmanned aerial vehicles (UAVs) have been widely employed in all spheres of society, yet unreasonable usage pose a threat to the public, making UAV surveillance an increasingly pressing concern. Focusing on the requirement of high-accuracy localization for UAVs, this paper proposes a Cooperative Active round-trip ranging and Passive hyperbolic Localization (CAPL) framework. In particular, we derive the detailed expression of Cramér–Rao lower bound (CRLB) for CAPL, which contains the position-related information provided by both the active round-trip time of arrival (RT-TOA) and the passive time difference of arrival (TDOA) parameters. Then, we theoretically investigate the performance of CAPL in terms of accuracy increment, far-field localization, and the effect of signal characteristics. Numerous simulation results are provided to validate that CAPL has significant advantages over only passive hyperbolic localization, especially for solving the height of UAVs in the far-field.