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Numerous communications and networking challenges prevent deploying unmannedaerial vehicles (UAVs) in extreme environments where the existing wirelesstechnologies are mainly ground-focused; and, as a consequence, the air-to-airchannel for UAVs is not fully covered. In this paper, a novel spatialestimation for beamforming is proposed to address UAV-based joint sensing andcommunications (JSC). The proposed spatial estimation algorithm relies on usinga delay tolerant observer-based predictor, which can accurately predict thepositions of the target UAVs in the presence of uncertainties due to factorssuch as wind gust. The solution, which uses discrete-time unknown inputobservers (UIOs), reduces the joint target detection and communicationcomplication notably by operating on the same device and performs reliably inthe presence of channel blockage and interference. The effectiveness of theproposed approach is demonstrated using simulation results.

Location-aware Beamforming for MIMO-enabled UAV Communications: An Unknown Input Observer Approach