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SE(3)-Based Trajectory Optimization and Target Tracking in UAV-Enabled ISAC Systems
Dongxiao Xu, Xinyang Li, Vlad C. Andrei, Moritz Wiese, Ullrich J · 2025-01-21 · via eess.SP updates on arXiv.org

This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in $SE(3)$, we address key challenges such as 3D space sensing and trajectory design. We propose a target tracking scheme using extended Kalman filtering (EKF) in $SE(3)$, along with trajectory optimization based on the conditional Posterior Cramer-Rao bound (CPCRB). Numerical results demonstrate the effectiveness of the proposed trajectory design in enhancing performance of target tracking and physical parameter estimation in UAV-enabled MIMO-OFDM ISAC systems.

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