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Paper Abstract and Keywords
Presentation 2026-03-18 11:35
Study on a Two-Stage Drone Tracking Method Based on Angular Spectrum
Yuna Saiki, Takahiro Matsuda (TMU), Tsubasa Tsukamoto, Daisuke Hayashi (Koden Electronics) CQ2025-127
Abstract (in Japanese) (See Japanese page) 
(in English) Direction-of-arrival (DoA) estimation based on radio waves is a highly attractive technique for
drone localization, as it is less affected by environmental conditions. However, in urban environments, buildings often create non-line-of-sight (NLOS) conditions, which substantially deteriorate the accuracy of DoA estimation.
To overcome this limitation, this paper proposes a two-stage drone tracking method that enables accurate localization even in urban areas. In the first stage, a convolutional neural network (CNN) takes angular spectra as input to estimate the coarse position of the drone. Based on this result, the line-of-sight (LOS) or NLOS condition between each observation point and the drone is determined, and high accuracy DoA is obtained only from the observation points classified as LOS. In the second stage, localization accuracy is improved using two approaches: geometric correction based on the intersection of DoA and time-series correction using an extended Kalman filter (EKF). The effectiveness of the proposed method is demonstrated through simulation experiments that reflect the real environment.
Keyword (in Japanese) (See Japanese page) 
(in English) angular spectrum / DoA / drone tracking / CNN / EKF / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 409, CQ2025-127, pp. 149-154, March 2026.
Paper # CQ2025-127 
Date of Issue 2026-03-09 (CQ) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CQ2025-127

Conference Information
Committee CQ MVE IMQ IE  
Conference Date 2026-03-16 - 2026-03-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Okinawa-Sangyoushien-Center 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To CQ 
Conference Code 2026-03-CQ-MVE-IMQ-IE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Study on a Two-Stage Drone Tracking Method Based on Angular Spectrum 
Sub Title (in English)  
Keyword(1) angular spectrum  
Keyword(2) DoA  
Keyword(3) drone tracking  
Keyword(4) CNN  
Keyword(5) EKF  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Yuna Saiki  
1st Author's Affiliation Tokyo Metropolitan University (TMU)
2nd Author's Name Takahiro Matsuda  
2nd Author's Affiliation Tokyo Metropolitan University (TMU)
3rd Author's Name Tsubasa Tsukamoto  
3rd Author's Affiliation Koden Electronics (Koden Electronics)
4th Author's Name Daisuke Hayashi  
4th Author's Affiliation Koden Electronics (Koden Electronics)
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Speaker Author-1 
Date Time 2026-03-18 11:35:00 
Presentation Time 20 minutes 
Registration for CQ 
Paper # CQ2025-127 
Volume (vol) vol.125 
Number (no) no.409 
Page pp.149-154 
#Pages 6 
Date of Issue 2026-03-09 (CQ) 

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