Accurate Localization of Intruder Drone by UAV Mounted Adaptable Radar Antenna in Restricted Areas

Boundless applications of drones engendered a lot of interest in people toward the localization of unauthorized drones by patrolling unmanned aerial vehicles (UAVs) mounted adaptable radar antenna (ARA) to ensure the safety of the country and its public. In this work, a hybrid algorithm is proposed for localizing intruder drones by separating the information of the patrolling UAV using bandstop filter (BSF). In order to localize drones accurately, a few practical aspects are considered, such as wobbling and mutual coupling (MC) effect. The wobbling impact is due to the maneuvring of the drone/UAV, and MC is due to the electromagnetic effect between the interelement of ARA. Root mean square error (RMSE) of time-delay, Doppler frequency, and direction of arrival (DoA) is compared with its respective Cramer–Rao lower bound (CRLB) to determine the variance of the estimator for various ARA configurations, such as uniform linear array (ULA), uniform rectangular array (URA), and uniform circular array (UCA). Simulation and the experimental results demonstrate the efficiency and robustness of the proposed algorithm by comparing it with existing algorithms.