Real-Time Localization of Transmission Sources by a Formation of Helicopters Equipped with a Rotating Directional Antenna

  • Václav Pritzl
  • Lukáš Vojtěch
  • Marek Neruda
  • Martin SaskaEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11472)


This paper proposes a novel technique for radio frequency transmission sources (RFTS) localization in outdoor environments using a formation of autonomous Micro Aerial Vehicles (MAVs) equipped with a rotating directional antenna. The technique uses a fusion of received signal strength indication (RSSI) and angle of arrival (AoA) data gained from dependencies of RSSI on angle measured by each directional antenna. An Unscented Kalman Filter (UKF) based approach is used for sensor data fusion and for estimation of RFTS positions during each localization step. The proposed method has been verified in simulations using noisy and inaccurate measurements and in several successful real-world outdoor deployments.


RFID localization Micro Aerial Vehicles Unscented Kalman Filter Directional antenna Radio frequency transmission sources localization 



This research was supported the Grant Agency of the Czech Republic under grant no. 17-16900Y, by student CTU grant no. SGS17/187/OHK3/3T/13, and by OP VVV MEYS funded project CZ.02.1.01/0.0/0.0/16_019/0000765 “Research Center for Informatics”.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Václav Pritzl
    • 1
  • Lukáš Vojtěch
    • 2
  • Marek Neruda
    • 2
  • Martin Saska
    • 1
    Email author
  1. 1.Department of CyberneticsCzech Technical University in PraguePragueCzech Republic
  2. 2.Department of Telecommunication EngineeringCzech Technical University in PraguePragueCzech Republic

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