UAV-Assisted 3-D Localization for IoT Networks Using a Simple and Efficient TDOA-AOA Estimator

Mojtaba Amiri; Rouhollah Amiri

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arXiv · 2510.08765

UAV-Assisted 3-D Localization for IoT Networks Using a Simple and Efficient TDOA-AOA Estimator

Mojtaba Amiri·Rouhollah Amiri

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Abstract

This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs a closed-form weighted least squares estimator and enables the positioning using a single ground station and a cooperative UAV relaying the signal. Analytical derivations and simulation results demonstrate effectiveness of the proposed approach, achieving near-optimal performance aligned with the Cram\'er-Rao Lower Bound (CRLB) under moderate Gaussian noise conditions.

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BibTeX RIS

Mojtaba Amiri, Rouhollah Amiri. 2025-10-09. UAV-Assisted 3-D Localization for IoT Networks Using a Simple and Efficient TDOA-AOA Estimator. https://arxiv.org/abs/2510.08765

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