Ultra-Wideband-Based Localization for Quadcopter Navigation

2016 ◽  
Vol 04 (01) ◽  
pp. 23-34 ◽  
Author(s):  
Kexin Guo ◽  
Zhirong Qiu ◽  
Cunxiao Miao ◽  
Abdul Hanif Zaini ◽  
Chun-Lin Chen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Ultra Wideband ◽  
Line Of Sight ◽  
Positioning System ◽  
Localization Algorithm ◽  
Control Loop ◽  
Flight Tests ◽  
Localization System ◽  
Global Positioning

Micro unmanned aerial vehicles (UAVs) are promising to play more and more important roles in both civilian and military activities. Currently, the navigation of UAVs is critically dependent on the localization service provided by the Global Positioning System (GPS), which suffers from the multipath effect and blockage of line-of-sight, and fails to work in an indoor, forest or urban environment. In this paper, we establish a localization system for quadcopters based on ultra-wideband (UWB) range measurements. To achieve the localization, a UWB module is installed on the quadcopter to actively send ranging requests to some fixed UWB modules at known positions (anchors). Once a distance is obtained, it is calibrated first and then goes through outlier detection before being fed to a localization algorithm. The localization algorithm is initialized by trilateration and sustained by the extended Kalman filter (EKF). The position and velocity estimates produced by the algorithm will be further fed to the control loop to aid the navigation of the quadcopter. Various flight tests in different environments have been conducted to validate the performance of UWB ranging and localization algorithm.

A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

2017 ◽  
Vol 40 (5) ◽  
pp. 1608-1614 ◽  
Author(s):  
Di Wu ◽  
Yu Meng ◽  
Qing Gu ◽  
Fei Ma ◽  
Kai Zhan
Keyword(s):  
Global Positioning System ◽  
Ultra Wideband ◽  
Underground Mines ◽  
Positioning System ◽  
Dimensional Error ◽  
Vehicle Localization ◽  
Range Resolution ◽  
Global Positioning ◽  
Novel Method ◽  
Heading Angle

This paper presents a system that measures the heading angle of underground Load-Haul-Dump (LHD) based on Ultra Wideband (UWB). The system is composed by two UWB modules. The heading angle gives the predictable information for the vehicle localization. Because of the features of underground mines, many current methods for estimating heading angle have limitations in this situation, such as the absence of Global Positioning System (GPS) and the high cost of the positioning methods based on beacons. The range resolution is proportional to the bandwidth of signal. So, the large system bandwidth of UWB offers high accuracy. We estimate the heading angle by measuring the angle between two UWB modules, which is implemented on LHD. The position error of the two modules directly decides the error of heading angle. This paper analyzes and discusses two-dimensional error in theory. The experimental results demonstrate that it is feasible to use the proposed method for an underground environment.

scholarly journals Indoor Localization System Using Wi-Fi Technology

2019 ◽  
pp. 69-77
Keyword(s):  
Global Positioning System ◽  
Indoor Localization ◽  
Tracking System ◽  
Low Cost ◽  
Positioning System ◽  
Test Results ◽  
Localization System ◽  
Transmission Technique ◽  
Wide Range ◽  
Global Positioning

Recently, indoor localization has witnessed an increase in interest, due to the potential wide range of using in different applications, such as Internet of Things (IoT). It is also providing a solution for the absence of Global Positioning System (GPS) signals inside buildings. Different techniques have been used for performing the indoor localization, such as sensors and wireless technologies. In this paper, an indoor localization and object tracking system is proposed based on WiFi transmission technique. It is done by distributing different WiFi sources around the building to read the data of the tracked objects. This is to measure the distance between the WiFi receiver and the object to allocate and track it efficiently. The test results show that the proposed system is working in an efficient way with low cost.

scholarly journals POTENTIAL OF UNMANNED AERIAL VEHICLES FOR AGRICULTURE

2021 ◽  
Vol 3 (1) ◽  
pp. 1-8
Author(s):  
Pawan Thapa
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Real Time ◽  
Global Positioning System ◽  
Crop Production ◽  
Positioning System ◽  
Interactive Maps ◽  
Aerial Vehicles ◽  
Global Positioning ◽  
Farmer Management ◽  
User Friendly

In few years, agriculture drones emerge for monitoring, planting, spraying, and mapping to increase crop production and reduce labor. This review results show its significance and farmer's demand for agriculture. The UAV technologies enable farmer management based on measuring and observation based on real-time crop and livestock monitoring, significantly maximize their production. The farm drone consists of user-friendly software with interactive maps, and a global positioning system will improve production. It will support farmer for farming in efficient, effective, and economical ways.

A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications

2010 ◽  
Vol 61 (1-4) ◽  
pp. 157-168 ◽  
Author(s):  
Andrea Cesetti ◽  
Emanuele Frontoni ◽  
Adriano Mancini ◽  
Andrea Ascani ◽  
Primo Zingaretti ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Positioning System ◽  
Aerial Vehicles ◽  
Global Positioning

scholarly journals Indoor Positioning System Based on Global Positioning System Signals with Down- and Up-Converters in 433 MHz ISM Band

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4338
Author(s):  
Abdulkadir Uzun ◽  
Firas Abdul Ghani ◽  
Amir Mohsen Ahmadi Najafabadi ◽  
Hüsnü Yenigün ◽  
İbrahim Tekin
Keyword(s):  
Global Positioning System ◽  
Indoor Positioning ◽  
Position Estimation ◽  
Line Of Sight ◽  
Positioning System ◽  
Gps Receiver ◽  
Ism Band ◽  
Global Positioning ◽  
Indoor Positioning System ◽  
Non Line Of Sight

In this paper, an indoor positioning system using Global Positioning System (GPS) signals in the 433 MHz Industrial Scientific Medical (ISM) band is proposed, and an experimental demonstration of how the proposed system operates under both line-of-sight and non-line-of-sight conditions on a building floor is presented. The proposed method is based on down-converting (DC) repeaters and an up-converting (UC) receiver. The down-conversion is deployed to avoid the restrictions on the use of Global Navigation Satellite Systems (GNSS) repeaters, to achieve higher output power, and to expose the GPS signals to lower path loss. The repeaters receive outdoor GPS signals at 1575.42 MHz (L1 band), down-convert them to the 433 MHz ISM band, then amplify and retransmit them to the indoor environment. The front end up-converter is combined with an off-the-shelf GPS receiver. When GPS signals at 433 MHz are received by the up-converting receiver, it then amplifies and up-converts these signals back to the L1 frequency. Subsequently, the off-the-shelf GPS receiver calculates the pseudo-ranges. The raw data are then sent from the receiver over a 2.4 GHz Wi-Fi link to a remote computer for data processing and indoor position estimation. Each repeater also has an attenuator to adjust its amplification level so that each repeater transmits almost equal signal levels in order to prevent jamming of the off-the-shelf GPS receiver. Experimental results demonstrate that the indoor position of a receiver can be found with sub-meter accuracy under both line-of-sight and non-line-of-sight conditions. The estimated position was found to be 54 and 98 cm away from the real position, while the 50% circular error probable (CEP) of the collected samples showed a radius of 3.3 and 4 m, respectively, for line-of-sight and non-line-of-sight cases.

A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications

2010 ◽  
pp. 157-168
Author(s):  
Andrea Cesetti ◽  
Emanuele Frontoni ◽  
Adriano Mancini ◽  
Andrea Ascani ◽  
Primo Zingaretti ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Positioning System ◽  
Aerial Vehicles ◽  
Global Positioning

High Accuracy Pseudolite-based Navigation System: Compensating for Right-Hand Circularly Polarized Effect

2006 ◽  
Vol 59 (2) ◽  
pp. 307-320 ◽  
Author(s):  
Haeyoung Jun ◽  
Changdon Kee
Keyword(s):  
Global Positioning System ◽  
Navigation System ◽  
Line Of Sight ◽  
Positioning System ◽  
Phase Measurements ◽  
Circularly Polarized ◽  
Position Accuracy ◽  
Right Hand ◽  
Gps Satellites ◽  
Global Positioning

This paper presents further research on the SNUGL pseudolite-based navigation system presented in this journal in 2003. This system has centimetre-level accuracy, but has an error source arising from right-hand circularly polarized (RHCP) transmissions, unlike outdoor Global Positioning System (GPS). The GPS satellites and pseudolites use RHCP signals, and the polarization affects carrier-phase measurements according to the Line-of-Sight (LOS) vectors from transmitters to receivers. The RHCP error is eliminated by a double differencing process in outdoor GPS, but the error remains in the pseudolite-based system because the LOS vectors from transmitters to a reference and user receivers are different for the close transmitter constellations. This paper shows the RHCP effect on the pseudolite-based navigation system through simulations and experiments. It then shows the RHCP-compensation method improves the measurement and position accuracy by over 10%.

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