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Towards A Realistic Path Planning Evaluation Model for Micro Aerial Vehicle-Assisted Localization of Wi-Fi Nodes

Authors:
M. Sc. Alina Rubina
Dr.-Ing. Oleksandr Artemenko
Prof. Dr.-Ing. habil. Andreas Mitschele-Thiel
Typ:
Conferences
Status:
accepted
Date of publication
10/16/2019
Abstract:
Micro Aerial Vehicle (MAV)-assisted localization of wireless nodes in a
given area is especially important in post-disaster scenarios where no
other communication infrastructure is accessible.

Different from related work solely focusing on simulations, we have done a
measurement campaign using a multirotor MAV to derive a realistic
propagation model for our scenario. Based on this propagation model and a
novel positioning approach, the performance of different trajectories is
reevaluated.

Our results show that in practice, the variance of the measurements is
higher than commonly expected in related work on MAV-assisted localization.
As a result, the study of our developed trajectories show localization
errors of 6-7m in a 400x400m\(^{2}\) area. We also show that adaptive
trajectories outperform state-of-the-art algorithms and are able to
localize at least 90\(\\%\) of the nodes in under 20 minutes. Thus, they
also outperform other algorithms with respect to the effectiveness of the
trajectory.
Bibtex