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Precise Time-of-Arrival (TOA) estimations of aircraft and drone signals areimportant for a wide set of applications including aircraft/drone tracking, airtraffic data verification, or self-localization. Our focus in this work is onTOA estimation methods that can run on low-cost software-defined radio (SDR)receivers, as widely deployed in Mode S / ADS-B crowdsourced sensor networkssuch as the OpenSky Network. We evaluate experimentally classical TOAestimation methods which are based on a cross-correlation with a reconstructedmessage template and find that these methods are not optimal for such signals.We propose two alternative methods that provide superior results for real-worldMode S / ADS-B signals captured with low-cost SDR receivers. The best methodachieves a standard deviation error of 1.5 ns.

Nanosecond-precision Time-of-Arrival Estimation for Aircraft Signals with low-cost SDR Receivers