A 3D Ad Hoc Localization System Using Aerial Sensor Nodes

An ad hoc localization system (AHLoS) is necessary at a time or place where global satellite navigation systems are not available and a permanent infrastructure is not needed. Previous work on such systems has typically focused on 2D horizontal navigation, but new applications such as those for unmanned aerial systems (UASs) require a 3D navigation capability. In this paper, we present an AHLoS utilizing aerial nodes in the form of quadrotors or similar platforms in addition to fixed, ground-based nodes to provide a precise 3D positioning capability. The nodes are equipped with ultrawideband devices to be used as ranging sources. Our mathematical analysis and simulated results suggest that the 3D AHLoS is capable of providing high positioning accuracy, most notably, the vertical accuracy that is better than a couple of decimeters for 95% of the time, making it ideal for various UAS applications.