Localization Algorithms for Drones in a Wireless Communication Environment with Presence of Data Missing

Drones are widely used in industries because drones perform tasks in various environments. Drones are highly utilized because drones are not affected by ground conditions. Estimating the position of the drone is important for the successful completion of the missions that are assigned to the drone. In wireless communication environments, data missing often occurs between the anchors serve as the transmitter and the drone-attached tag serves as the receiver. In this paper, we propose a localization algorithm that can accurately estimate the location of the drone in the case of data missing. The proposed algorithm can estimate the position of the drone using the residuals of the predicted measurements in the case of data missing. The proposed algorithm aimed to estimate the position of the drone in the case of data missing using distance information between the anchors and the drone-attached tag and verified the performance of the proposed algorithm through simulation.