High-accuracy and robust non-cooperative UAV localization: RSS-based framework with unknown transmission power.

Abstract

This paper proposes a robust received signal strength (RSS)-based localization framework for non-cooperative unmanned aerial vehicles. Conventional RSS methods face three fundamental obstacles: susceptibility to heavy-tailed measurement noise, intractable non-convexity, and severe accuracy degradation when target transmission power is unknown. These vulnerabilities present critical security risks to emerging low-altitude economy networks. To overcome these limitations, we propose an integrated joint-estimation architecture. First, a cascaded preprocessing pipeline, combining Gaussian outlier suppression and statistical median weighting, is developed to mitigate multipath-induced biases and minimize variance. Second, an information-theoretic base station (BS) selection mechanism is designed to identify geometrically optimal BSs, thereby exponentially reducing computational overhead in both uniform and random deployment scenarios. Third, the power unknown problem is reformulated via semidefinite programming, absorbing the unknown parameter into a higher-dimensional convex cone to guarantee global convergence without relying on initial guesses. Extensive Monte Carlo simulations demonstrate that under uniform BS deployment, our strategy achieves sub10-meter accuracy (approximately 5 m root mean square error) using only 5 selected BSs in typical urban conditions with a path loss exponent of 3. Consequently, this approach delivers a highly accurate and computationally efficient solution for realtime target tracking in complex environments.