three-dimensional rf source localization using reflection and an improved particle filter

This study uses an obstacle map for three-dimensional radio frequency (rf) source localization with reflection. the received signal strength indicator (rssi) and the angle of arrival (aoa) are the observation requirements for the three-dimensional localization. in the first step of the localization, an unmanned aerial vehicle (uav) is used to obtain aoa and locate the three-dimensional reflection using a two-dimensional map. then, the path loss function is used and the reflection angle alongside the distance between the receiver and rf source is estimated based on rssi. this information is integrated with the information from the two-dimensional map to estimate the rf source location in the three-dimensional space. the possible rf source locations in three-dimensional space are obtained, and it is shown that the possible locations of the rf source for one reflection in the three-dimensional make a circle, so three reflections are required for three-dimensional rf source localization. an improved particle filter is used to estimate rf source location while using the kullback-leibler distance (kld) criteria and local search to improve the method performance with proper estimation speed and accuracy. the simulation results show that the improved particle filter has an adequate estimation with optimal particle number and higher execution speed than the initial particle filter.