3D Self-positioning Method Using Stepped-Frequency Radar and MMSE Estimator

This paper presents the self-positioning method of unmanned aerial vehicles (UAV) in the global position system (GPS)-denied environment. In our method, the stepped-frequency radar installed on the UAV measures the distances between UAV and four reference targets which their positions are known. Then, the measured distance information is transferred to the minimum mean square error (MMSE) estimator. Finally, we compare the real and estimated positions of UAV. The results verify that the proposed method can be successfully applied to the 3D positioning system.