Round Trip Time based UAV State Estimation

A new method for UAV state estimation based on high accuracy multi Round Trip Time measurements with respect to multiple 5G base stations is presented. The proposed algorithm employs interacting multiple model filtering, with the nonlinear measurement equations handled by extended Kalman filters. A hovering movement mode is introduced, and used together with the normal flight modes such as straight line motion and maneuvering. This approach enhances the state estimation for monitoring UAV traffic using cellular connectivity, particularly in applications such as border surveillance and safeguarding sensitive areas like airports. Simulations are used to illustrate the performance of the algorithm.