Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (17): 210-216.DOI: 10.3778/j.issn.1002-8331.1909-0274

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3D AOA Localization Using UAVs Monocular Vision

XIONG Hang, YANG Rennong, LIANG Xiaolong, HOU Yueqi, WANG Weijia   

  1. College of Air Traffic Control and Navigation, Air Force Engineering University, Xi’an 710051, China
  • Online:2020-09-01 Published:2020-08-31



  1. 空军工程大学 空管领航学院,西安 710051


A method of UAV monocular vision localization at different points of time and places is presented based on AOA, aiming at the problems caused by high dependence on prior
background information and fluctuation in accuracy due to varied environment in recent studies on UAV monocular vision localization. Equipped with a monocular CCD camera, the UAV flies
to multiple positions around the target successively for target imaging and data collection. Then the 3D coordinate estimation of the target is completed based on the principle of AOA.
Measurement model is established for monocular vision and AOA 3D localization. Pseudolinear Estimator(PLE), Weighted Least-Squares(WLS) and Non-Uniform Angular Arrays(Non-UAA) of
measuring points are presented for AOA 3D localization, under which the task process is designed. The proposed method has been proved to be valid according to successful 3D positioning
of targets achieved by algorithm simulation and experimental verification without environmental or prior information.

Key words: Unmanned Aerial Vehicle(UAV), monocular vision, Angle of Arrival(AOA), 3D localization, Pseudolinear Estimator(PLE), Weighted Least-Squares(WLS)



关键词: 无人机, 单目视觉, 到达角(AOA), 三维定位, 伪线性估计, 加权最小二乘