Dynamical System Modeling and Stability Investigation�DSMSI-2025
May 08-10, 2025, Kyiv, Ukraine
Information Technology and Software For Improving The Accuracy Of Object Localization
Yaroslav Petrivskyi,
Oleksandr Pyzh, Taras Shevchenko National University of Kyiv�
Dynamical System Modeling and Stability Investigation, DSMSI-2025
Synthetic Aperture Antenna Reconstruction (PSAA) is a process of generating a long-length equivalent antenna using drone motion and digitally processing the received signal. This allows for improved resolution of the Angle of Arrival (AoA) and high-precision localization of the signal source.
Basic principles of aperture reconstruction
1. The scout moves along a given trajectory, recording the received signal at different points.
2. The phase information of the signal is captured and superimposed to create an equivalent long antenna.
3. The antenna directivity with high angular resolution is restored.
4. Digital data processing is carried out to accurately calculate the direction to the source.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
Antenna aperture reconstruction algorithm
1) Data collection phase
1. Recording the received signal while the drone is moving
- The antenna records the amplitude, phase and frequency of the signal at different points along the trajectory.
- High-precision Time Stamping is used to synchronize data.
2. Formation of an array of measurements
- Data is recorded along the axes (x, y, z, t), where:
- x, y, z – drone coordinates at the time of measurement.
- t – timestamp of each received signal.
- Phase information is recorded for further wave front analysis.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
2) Synthetic aperture formation phase
1. Creating an equivalent antenna
- Each measured signal is linked to the corresponding drone coordinate.
- Data from different points are superimposed as if they were signals received by a large antenna.
- An equivalent aperture of length equal to the path traveled is formed.
2. Correction of phase shifts
- Doppler effect, altitude changes and trajectory curvature are taken into account.
- Phase shifts are equalized for correct signal summation.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
3) Signal processing phase (creation of a directional diagram)
1. Fourier transform to determine the angle of arrival of the signal (AoA - Angle of Arrival)
- Two-dimensional fast Fourier transform (2D-FFT) is performed.
- The angular spectrum of the received signal is analyzed.
- The direction to the source is calculated based on the maximum peak amplitude.
2. Spatial filtering (Beamforming)
- Digital beamforming methods are used:
- MVDR (Minimum Variance Distortionless Response) – minimization of interference.
- MUSIC (Multiple Signal Classification) – resolution increase.
- A directed beam is formed towards the signal source.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
4) Phase of determining the coordinates of the signal source
1. Estimation of the distance to the source (TDoA - Time Difference of Arrival)
- The difference in signal arrival time between different points of the trajectory is used.
- The distance to the source is calculated.
2. Determining the exact coordinates of the source
- Data on the angle of arrival (AoA) and distance (TDoA) are compared.
- Coordinates are calculated using the ray intersection method or gradient analysis.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
5) Optimization and data transfer phase
1. Error correction
- Elimination of false sources (e.g. reflections from buildings).
- Adaptive signal filtering.
2. Transferring data to the swarm and command post
- Transfer of refined electronic warfare coordinates for further actions.
- If necessary, send other scouts for confirmation.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
Final algorithm:
Scout (individual actions)
1️. Moves along a given trajectory, recording a signal.
2️. Forms the equivalent aperture of the antenna.
3️.Applies Fourier transform and filtering to accurately calculate direction.
4️. Determines the coordinates of the source.
5️. Transmits data to the swarm.
Swarm (collective actions)
1. Uses data from multiple drones for triangulation.
2. Specifies the coordinates of the signal source.
3. Transmits data to command or adjusts the route.
Dynamical System Modeling and Stability Investigation, DSMSI-2025
What does this algorithm give?
This method outperforms classical radio direction finding algorithms due to increased accuracy and flexibility in difficult conditions (electronic warfare, multipath propagation, mobile targets).
Thank you for your attention