Drone Position Estimation Based on Multipath Utilization in Urban Single Building NLOS Environments

The detection and localization of low-speed small drones in complex urban single-building environments is challenging. The presence of buildings will cause radar signals to reflect and refract, resulting in a large number of multipath signals. These multipath signals can interfere with drone detection and localization. Effective use of multipath signals to locate drone targets in urban single building environments is of great research significance. In order to solve this problem, this paper proposes a method that uses the multi-path effect of single-station radar electromagnetic waves to detect and locate drones in the non-line-of-sight (NLOS) range with known building layout information. First, a multipath echo signal model under non-line-of-sight conditions was constructed, and then a positioning solution algorithm using multipath signals in a single building scene was proposed. Finally, the proposed algorithm is verified using simulation and actual measurement data. Experimental results show that the positioning error of this method for micro-moving drone targets is less than 0.5m. In addition, the trajectory positioning result of the drone's moving target is very close to its actual movement trajectory.