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This paper presents a method for three dimension (3D) drone location estimation based on measured signals transmitted from a flying drone. During the experiment, we considered a single antenna mounted on the drone for signal transmission and a 4-by-4 rectangular array positioned at a known stationary location for receiving the incoming signal. Once the signal strength from the source is measured, the 3D position of the drone is estimated using the MUltiple SIgnal Classification (MUSIC) algorithm. The estimated values are then fed into an Extended Kalman Filter (EKF) as a measurement model, and the movement of the drone is formulated in a 3D trajectory plane. In order to evaluate the performance of our approach, we considered a histogram distribution and probability density function (pdf) of the drone position estimation error during its trajectory. The estimated 3D position of the drone is compared with the GPS values, and we ensure that the drone is localized based on the received signal from the experimental setup by first estimating the direction of the signal using MUSIC, and then tracking it using EKF in the predefined drone trajectory area.

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Background: Even though several factors affect reference intervals (RIs), company-derived values are currently in use in many laboratories worldwide. However, few or no data are available regarding serum proteins RIs, especially in resource-limited countries such as Ethiopia. Objective: To establish RIs for serum protein electrophoresis of apparently healthy adults in Addis Ababa, Ethiopia. Methods: A cross-sectional study was conducted on a total of 297 apparently healthy adults from April to October 2019 in four selected sub-cities (Akaki, Kirkos, Arada, and Yeka) of Addis Ababa, Ethiopia. Laboratory analysis of collected samples was performed using the Capillarys 2 Flex Piercing analyzer, while statistical analysis was conducted using SPSS version 23 and Med-Calc software. The Mann-Whitney test was used to check partitions. A non-parametric method of reference range establishment was performed as per CLSI guideline EP28A3C.