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Over the last few years, the many uses of Unmanned Aerial Vehicles (UAVs)have captured the interest of both the scientific and the industrialcommunities. A typical scenario consists in the use of UAVs for surveillance ortarget-search missions over a wide geographical area. In this case, it isfundamental for the command center to accurately estimate and track thetrajectories of the UAVs by exploiting their periodic state reports. In thiswork, we design an ad hoc tracking system that exploits the Long Range WideArea Network (LoRaWAN) standard for communication and an extended version ofthe Constant Turn Rate and Acceleration (CTRA) motion model to predict dronemovements in a 3D environment. Simulation results on a publicly availabledataset show that our system can reliably estimate the position and trajectoryof a UAV, significantly outperforming baseline tracking approaches.

Combining LoRaWAN and a New 3D Motion Model for Remote UAV Tracking