GuideLoc: UAV-Assisted Multitarget Localization System for Disaster Rescue

Algorithm 1

Algorithm of GuideLoc.

(1) Get measurement samples of the target;

(2) Estimate AOA according to RSSI of different directions;

(3) GuideLoc flies towards the target;

(4) Capture new measurement samples of the target;

(5) Use Formula (10) to calculate the average of RSSIs;

(6) if (The average of RSSIs < −70)

(7)   Update AOA, adjust the direction of flight and

(8)   continues flying close to the target;

(9) else

(10)   Arrive just right over the target, Locinfo = GPS;

(11) endif

(12) return Locinfo.