Seyyed Mohammad Mehdi Dehghan and Hadi Moradi


Aerial localization, RF source, differential received signal strength indicator (DRSSI), Cramer–Rao’s lower bound (CRLB), angular orientation vector, observation confidence


Selecting the observation waypoints in the aerial localization of an RF source has a direct effect on the accuracy of the localization. This issue is more important in differential RSSI-based localization due to the redundancy in selecting the waypoints to create a differential received signal strength indication (DRSSI) observation. It is shown, in our previous work with no complete proof, that the 180◦ pairing angle can lead to close to a minimum localization error. In this paper, the performance of DRSSI observations is analysed based on the confidence and the angular orientation vector of the observations. This analysis leads to a rule for generating optimal DRSSI observations based on the optimal pairing of pairwise received signal strength indicator (RSSI) observations. It is shown that the pair selection depends on: (a) the angle between the larger eigenvector of the priori covariance matrix and the angular orientation vector of the DRSSI observation and (b) the confidence of the DRSSI observation. The importance and the effect of the study have been shown in simulation and the results match the analysis. Also, the results show that our initial rule of thumb, presented in our previous study, is valid in specific situations. However, for more general cases, the angular orientation vector and the observation confidence should be employed to determine the best pairs to create DRSSIs.

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