Evaluation of Drone Based Localization Via a Real-Time Emulation Environment

Weeks-Collins, Dustin S.

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Evaluation of Drone Based Localization Via a Real-Time Emulation Environment

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Localization is becoming more available and easier to understand and integrate into aerial networks and systems. There are many ways to test these algorithms both in software and hardware, but transitioning this software to a real drone-based system can prove difficult and expensive in respects to time and hardware costs. How can we test a software-based localization approach in a hardware-like environment prior to purchasing hardware? The goal of this thesis is to evaluate the capabilities of the emulation environment Common Open Research Environment/Extendable Mobile Ad-hoc Network Emulator (CORE)/(EMANE). Python and bash scripting were used to set and collect the location and timing data of a set of drones or stationary systems. The collected data is then localized and evaluated against the expected information. This system has the capabilities to integrate and test real-time localization scenarios with a large control over both the Physical (PHY) and Medium Access Control (MAC) layers of the system with the benefits of being open-sourced. Through the scenarios in this thesis, it is observed that the initial accuracy of our Time of Arrival (ToA) localization scenario is inaccurate due to the networking latency at short range, but it is predicable, thus allowing for modifications to be implemented and improving the accuracy. CORE/EMANE are able to offer the capabilities of operating as a hardware system, reliably portraying the issues associated with a real-time drone-based wireless communication system. These results are used to further the accuracy and capabilities of this environment, and emulate more complex localization systems. This system is fully customizable and capable for both stationary and mobile networking and communication systems to perform accurate localization.

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