The objective of this thesis was to evaluate radio receivers that had been previously acquired for other tasks by the Swedish Defence Materiel Administration, for additional service in a radio direction finding (DF) system. The antenna, calibration signal generator and DF algorithm were provided. As the receivers used the VITA 49 frame format, much of the work involved the interpretation of the frame structure and contents. The other main challenges were to put the receivers into the correct internal state, to compensate the analogue phase errors due to cabling, and to correlate the digital frames according to the time stamps. The work was performed partly as a literature study and, during implementation, by using an investigative trial and-error method. Collection of reference signals, for later offline analysis, was made at the Swedish Defence Research Agency. The findings of the evaluation was that the receivers were phase coherent and that the VITA 49 frame format was suitable for DF use. An apparently systematic error of unknown origin rendered the DF results inaccurate, even though the precision of the results was high. The automatic gain control (AGC) of the receivers did not perform according to norm. If the systematic error is compensated for, and the AGC problem is eliminated, the receivers will function as a DF system using the manufacturer's instructions, with the provided antenna. The performance of the receivers in this setting was not a primary concern for the thesis, but was deemed to be acceptable. Suggestions for further development include finding the source of the systematic error, an automatic calibration function, a more thorough performance analysis, and code optimizations using multiple threads.

Current radio direction finding techniques are limited in flexibility and focus on specific applications. Commercial off the shelf systems exist for a wide range of applications from navigation to search and rescue and wildlife tracking. However these systems rely on commercially available VHF receivers and are limited in transmission modulation techniques and frequency ranges. The majority of these systems are expensive which places them outside the reach of most individuals while the current open source designs require specialized skills and knowledge to build. The goal of this work was to design a low cost system capable of determining the approximate location of a non-cooperative VHF transmitter that could easily be implemented on a variety of unmanned systems. One unmanned aerial system was designed, built, and evaluated. Existing open source hardware and software systems were utilized for the development of the pseudo Doppler direction finding system, and work was conducted utilizing recursive Bayesian techniques to estimate the VHF transmitter's location. Results and explanations of system behaviors are presented along with limitations and possible modifications to improve performance and reliability. / Master of Science / Radio direction finding uses specialized radio equipment to determine the direction that a radio signal is coming from. Commercial systems are often expense, and existing hobbyist designs require specialized skills, and both are not flexible in application or frequency. The same is true for commercially available drones, which tend to be expensive or face other limitations. In this work a low cost radio direction finding system that uses easily found open source hardware and software was built and evaluated, along with a low cost unmanned aerial system. Then using the data collected, a computer algorithm was tested that could estimate the transmitting radio’s location. After testing it was determined that all systems did work, but still had room for improvement. Future steps and system modifications are presented that could improve the system’s performance.

Aircraft in the US are equipped with Emergency Locator Transmitters (ELTs). In emergency situations these beacons are activated, providing a radio signal that can be used to locate the aircraft. Recent developments in UAV technologies have enabled mini-UAVs (5-foot wingspan) to possess a high level of autonomy. Due to the small size of these aircraft they are human-packable and can be easily transported and deployed in the field. Using a custom-built Radio Direction Finder, we gathered readings from a known transmitter and used them to compare various Bayesian reasoning-based filtering algorithms. Using a custom-developed simulator, we were able to test and evaluate filtering and control methods. In most non-trivial conditions we found that the Sequential Importance Resampling (SIR) Particle Filter worked best. The filtering and control algorithms presented can be extended to other problems that involve UAV control and tracking with noisy non-linear sensor behavior.