In this paper, we introduce a method to estimate the drone location in a wireless sensor field (SF). The sensors are assumed to be installed in a field in a doublets form (i.e., each two sensors are combined to form a doublet). Each doublet in the near drone location can be used to estimate the angle between the doublet axis and the line connecting the drone to doublet’s vertex. The locus of this angle will form a cone. Using six sets of different doublets, one can locate the drone by considering the intersection of the corresponding six cones. Cramer–Rao bound (CRB) is derived for the proposed estimator. Also, simulation results are provided to illustrate the estimator’s performance.

在本文中，我们介绍了一种估计无人机在无线传感器领域（SF）中位置的方法。假定传感器以双工形式安装在现场（即，每两个传感器组合形成一个双工）。靠近无人机位置的每个双峰都可以用来估计双峰轴与将无人机连接到双峰顶点的线之间的角度。该角度的轨迹将形成圆锥。使用六组不同的二合体，可以通过考虑相应的六个圆锥的相交来定位无人机。Cramer-Rao边界（CRB）是针对所提出的估计量而得出的。此外，提供了仿真结果以说明估算器的性能。