This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio signals received from users collected by a UAV at different locations. Since the UAV's location might not be perfectly known, the problem becomes about simultaneously localizing the users and tracking the UAV's position. To solve this problem, we employed a least-squares simultaneous localization and mapping (SLAM) framework to fuse ToA data and the estimate of UAV location available from global positioning system (GPS). We verified the performance of the developed algorithm through real-world experimentation.

翻译：本文探讨了借助配备无线电设备的无人机（UAV）收集用户测量数据以实现地面用户定位的挑战。我们利用无人机在不同位置接收用户无线电信号所估计的到达时间（ToA）测量值。由于无人机的位置可能无法精确获知，该问题转化为同时定位用户与追踪无人机位置的任务。为解决此问题，我们采用最小二乘同时定位与建图（SLAM）框架，融合ToA数据及全球定位系统（GPS）提供的无人机位置估计。通过实际场景实验，我们验证了所开发算法的性能。