This paper addresses a conceptual study on a precise passive target localization approach for substation facilities inspection using unmanned aerial vehicle (UAV) under GPS-denied environments. First, a cruciform receiver array that provides the range difference (RD) measurements between a facility (receiver array) and a UAV (transmitter) is devised. Then, to effectively deal with the real-time and accurate localization performance issue, our RD-based target localization problem is reformulated from the viewpoint of the linear least-squares estimation theory, and constrained robust weighted least-squares (C-RWLS) estimation scheme is applied. The proposed method shows excellent location estimates with the help of hard constraints on the geometric relation to the transceivers. Also, it is suitable for real-time implementation due to its linear structure. The reliability of the proposed estimation method is demonstrated through simulations from various points of the UAV.
|Title of host publication||Proceedings - 2021 22nd IEEE International Conference on Industrial Technology, ICIT 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|Publication status||Published - 2021 Mar 10|
|Event||22nd IEEE International Conference on Industrial Technology, ICIT 2021 - Valencia, Spain|
Duration: 2021 Mar 10 → 2021 Mar 12
|Name||Proceedings of the IEEE International Conference on Industrial Technology|
|Conference||22nd IEEE International Conference on Industrial Technology, ICIT 2021|
|Period||21/3/10 → 21/3/12|
Bibliographical noteFunding Information:
This research was supported by Korea Electric Power Corporation (Grant Number: R19XO01-51)
© 2021 IEEE.
All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Electrical and Electronic Engineering