SE(3)-Based Trajectory Optimization and Target Tracking in UAV-Enabled ISAC Systems
Dongxiao Xu, Xinyang Li, Vlad C. Andrei, Moritz Wiese, Ullrich J. Moenich, Holger Boche
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This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in SE(3), we address key challenges such as 3D space sensing and trajectory design. We propose a target tracking scheme using extended Kalman filtering (EKF) in SE(3), along with trajectory optimization based on the conditional Posterior Cramer-Rao bound (CPCRB). Numerical results demonstrate the effectiveness of the proposed trajectory design in enhancing performance of target tracking and physical parameter estimation in UAV-enabled MIMO-OFDM ISAC systems.