{"id":"https://openalex.org/W4206106134","doi":"https://doi.org/10.1109/jiot.2022.3144234","title":"UAV-Aided Positioning Systems for Ground Devices: Fundamental Limits and Algorithms","display_name":"UAV-Aided Positioning Systems for Ground Devices: Fundamental Limits and Algorithms","publication_year":2022,"publication_date":"2022-01-18","ids":{"openalex":"https://openalex.org/W4206106134","doi":"https://doi.org/10.1109/jiot.2022.3144234"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3144234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3144234","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001968310","display_name":"Tianhao Liang","orcid":"https://orcid.org/0000-0003-3628-364X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianhao Liang","raw_affiliation_strings":["School of Electronics and Information Engineering, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329653","display_name":"Tingting Zhang","orcid":"https://orcid.org/0000-0003-2585-0290"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingting Zhang","raw_affiliation_strings":["School of Electronics and Information Engineering and the Pengcheng Laboratory, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering and the Pengcheng Laboratory, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103017354","display_name":"Jiayan Yang","orcid":"https://orcid.org/0000-0003-0102-6977"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayan Yang","raw_affiliation_strings":["School of Electronics and Information Engineering, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025067597","display_name":"Daquan Feng","orcid":"https://orcid.org/0000-0002-0667-1150"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daquan Feng","raw_affiliation_strings":["College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725895","display_name":"Qinyu Zhang","orcid":"https://orcid.org/0000-0001-9272-0475"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyu Zhang","raw_affiliation_strings":["School of Electronics and Information Engineering and the Pengcheng Laboratory, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering and the Pengcheng Laboratory, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001968310"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":19.7579,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.98988657,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"9","issue":"15","first_page":"13470","last_page":"13485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.746364176273346},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4738987982273102},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.43235501646995544}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.746364176273346},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4738987982273102},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.43235501646995544}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2022.3144234","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3144234","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2111649089","display_name":null,"funder_award_id":"61771159","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3658063426","display_name":null,"funder_award_id":"61831008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4343183693","display_name":null,"funder_award_id":"62027802","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7916304914","display_name":null,"funder_award_id":"62171160","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8608808607","display_name":null,"funder_award_id":"91638204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1938839163","https://openalex.org/W1952756181","https://openalex.org/W2031834036","https://openalex.org/W2085972985","https://openalex.org/W2107542991","https://openalex.org/W2113775340","https://openalex.org/W2114547915","https://openalex.org/W2126544388","https://openalex.org/W2156668452","https://openalex.org/W2169916013","https://openalex.org/W2242985591","https://openalex.org/W2268751503","https://openalex.org/W2327669095","https://openalex.org/W2330362073","https://openalex.org/W2336416123","https://openalex.org/W2344693421","https://openalex.org/W2511568459","https://openalex.org/W2529970009","https://openalex.org/W2558431499","https://openalex.org/W2564738509","https://openalex.org/W2604830243","https://openalex.org/W2750669109","https://openalex.org/W2768437671","https://openalex.org/W2783401216","https://openalex.org/W2863526491","https://openalex.org/W2883596296","https://openalex.org/W2885935921","https://openalex.org/W2938038694","https://openalex.org/W2963138728","https://openalex.org/W2964655282","https://openalex.org/W2970258442","https://openalex.org/W2975745324","https://openalex.org/W2981723481","https://openalex.org/W3001321893","https://openalex.org/W3009170854","https://openalex.org/W3035487433","https://openalex.org/W3036457062","https://openalex.org/W3103250346","https://openalex.org/W3134213182","https://openalex.org/W3143519386","https://openalex.org/W3170031381"],"related_works":["https://openalex.org/W2393888177","https://openalex.org/W2544423928","https://openalex.org/W2117183908","https://openalex.org/W2115794623","https://openalex.org/W2360264381","https://openalex.org/W2067173559","https://openalex.org/W2148738811","https://openalex.org/W1613730747","https://openalex.org/W2541389358","https://openalex.org/W4318948887"],"abstract_inverted_index":{"High-precision":[0],"location":[1],"information":[2],"formulates":[3],"the":[4,7,15,19,48,84,98,102,109,115,135,158,163,192,195,224],"basis":[5],"of":[6,10,50,90,101,108,125,194],"modern":[8],"Internet":[9],"Things":[11],"(IoT).":[12],"However,":[13],"since":[14],"navigation":[16,21],"signals":[17],"from":[18],"global":[20],"satellite":[22],"systems":[23],"(GNSSs)":[24],"are":[25,39,117],"frequently":[26],"attenuated":[27],"or":[28],"blocked":[29],"in":[30,64,106,162],"urban":[31],"areas,":[32],"reliable":[33],"and":[34,54,146,213,220,227],"high":[35],"accuracy":[36],"positioning":[37,78,144],"alternatives":[38],"thus":[40],"required":[41],"for":[42,81],"ground":[43,66],"devices":[44],"(GDs).":[45],"Due":[46],"to":[47,142,156,223],"advantages":[49,177],"their":[51],"flexible":[52],"deployment":[53,185],"extensive":[55],"coverage,":[56],"unmanned":[57],"aerial":[58],"vehicles":[59],"(UAVs)":[60],"show":[61,168],"significant":[62],"potential":[63,193],"this":[65,71],"localization":[67],"enhancement":[68],"system.":[69],"In":[70],"article,":[72],"we":[73,95,128,206],"propose":[74],"a":[75,130,150],"UAV":[76],"aided":[77],"(UAP)":[79],"system":[80,105,197,225],"GDs,":[82],"where":[83,114],"UAVs":[85,116,145],"provide":[86,217],"valuable":[87],"flying":[88],"Line":[89],"Sight":[91],"(LoS)":[92],"observations.":[93],"Specifically,":[94],"first":[96],"give":[97],"fundamental":[99],"limits":[100],"proposed":[103],"UAP":[104,132,196],"terms":[107],"Cramer\u2013Rao":[110],"low":[111],"bound":[112],"(CRLB),":[113],"treated":[118],"as":[119],"\u201cagents\u201d":[120],"with":[121],"unknown":[122],"positions":[123],"instead":[124],"anchors.":[126],"Then,":[127],"formulate":[129],"general":[131],"method":[133],"using":[134],"nonparametric":[136],"belief":[137],"propagation":[138],"(NBP)-based":[139],"probabilistic":[140],"framework,":[141],"jointly":[143],"GDs":[147],"simultaneously.":[148],"Moreover,":[149],"two-step":[151],"clustering-based":[152],"solution":[153],"is":[154,187],"given":[155],"tackle":[157],"data":[159,171],"association":[160],"challenge":[161],"multi-UAV":[164,184],"scenarios.":[165],"We":[166],"also":[167],"that":[169],"proper":[170],"feedback":[172],"could":[173,198],"achieve":[174],"additional":[175],"performance":[176,221],"without":[178],"any":[179],"extra":[180],"measurements.":[181],"The":[182],"optimal":[183],"strategy":[186],"then":[188],"proposed,":[189],"by":[190],"which":[191,216],"be":[199],"fully":[200],"characterized.":[201],"Last":[202],"but":[203],"not":[204],"least,":[205],"verify":[207],"our":[208],"solutions":[209],"via":[210],"numerical":[211],"simulations":[212],"practical":[214],"experiments,":[215],"meaningful":[218],"insights":[219],"evaluations":[222],"design":[226],"implementations.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}