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In emergency search and rescue scenarios, the quick location of trappedpeople is essential. However, disasters can render the Global PositioningSystem (GPS) unusable. Unmanned aerial vehicles (UAVs) with localizationdevices can serve as mobile anchors due to their agility and high line-of-sight(LoS) probability. Nonetheless, the number of available UAVs during the initialstages of disaster relief is limited, and innovative methods are needed toquickly plan UAV trajectories to locate non-uniformly distributed dynamictargets while ensuring localization accuracy. To address this challenge, wedesign a single UAV localization method without hovering, use the maximumlikelihood estimation (MLE) method to estimate the location of mobile users anddefine the upper bound of the localization error by considering users'movement.Combining this localization method and localization error-index, weutilize the enhanced particle swarm optimization (EPSO) algorithm and edgeaccess strategy to develop a low complexity localization-oriented adaptivetrajectory planning algorithm. Simulation results demonstrate that our methodoutperforms other baseline algorithms, enabling faster localization withoutcompromising localization accuracy.

Emergency Localization for Mobile Ground Users: An Adaptive UAV Trajectory Planning Method