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On the localization of sensors using a drone with UWB antennas

In the last years, mega-wildfires have become routine news. For the firefighters, it is crucial to rely on systems able to prevent and detect those disastrous events. Wireless Sensor Networks (WSNs) become an important issue such as environmental and forest monitoring. An important requirement for the WSNs is the ability to precisely localize their sensors for augmenting the collected data with their position. In this paper, we survey three previous presented algorithms, called Short, Dir, and Omni, for localizing terrestrial sensors using a drone. We compare their performance under a variety of different conditions: we evaluate the path length, we compare the localization performance in terms of precision and error, and we analyze the impact of using multilateration instead of trilateration during each localization. Our study supports the importance of the geometry in selecting the waypoints from which a sensor is measured. The common belief that multilateration leads to a more precise localization is not completely correct. Indeed, we have shown by simulations that, when the waypoints follow a well pondered geometry, multilateration is not useful. Whereas, the multilateration can improve the precision for algorithms that select the waypoints according to a best-effort policy.