scholarly journals Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

2021 ◽  
Vol 12 (1) ◽  
pp. 18-27
Author(s):  
Niam Tamami ◽  
Bambang Sumantri ◽  
Prima Kristalina
Keyword(s):  
Minimum Distance ◽  
Low Cost ◽  
Wide Band ◽  
Ultra Wide Band ◽  
Average Error ◽  
Positioning System ◽  
Local Positioning System ◽  
Outdoor Area ◽  
Novel Method ◽  
Uwb Radio

An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.

scholarly journals Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2218
Author(s):  
Sizhen Bian ◽  
Peter Hevesi ◽  
Leif Christensen ◽  
Paul Lukowicz
Keyword(s):  
Magnetic Field ◽  
Low Cost ◽  
Autonomous Underwater Vehicles ◽  
Wide Band ◽  
Propagation Delay ◽  
Positioning System ◽  
Indoor Environments ◽  
Coverage Area ◽  
Underwater Positioning ◽  
Similar Accuracy

Autonomous underwater vehicles (AUV) are seen as an emerging technology for maritime exploration but are still restricted by the availability of short range, accurate positioning methods necessary, e.g., when docking remote assets. Typical techniques used for high-accuracy positioning in indoor use case scenarios, such as systems using ultra-wide band radio signals (UWB), cannot be applied for underwater positioning because of the quick absorption of the positioning medium caused by the water. Acoustic and optic solutions for underwater positioning also face known problems, such as the multi-path effects, high propagation delay (acoustics), and environmental dependency. This paper presents an oscillating magnetic field-based indoor and underwater positioning system. Unlike those radio wave-based positioning modalities, the magnetic approach generates a bubble-formed magnetic field that will not be deformed by the environmental variation because of the very similar permeability of water and air. The proposed system achieves an underwater positioning mean accuracy of 13.3 cm in 2D and 19.0 cm in 3D with the multi-lateration positioning method and concludes the potential of the magnetic field-based positioning technique for underwater applications. A similar accuracy was also achieved for various indoor environments that were used to test the influence of cluttered environment and of cross environment. The low cost and power consumption system is scalable for extensive coverage area and could plug-and-play without pre-calibration.

scholarly journals Invasive Electrical Impedance Tomography for Blood Vessel Detection

2010 ◽  
Vol 4 (1) ◽  
pp. 135-137 ◽  
Author(s):  
Ørjan G. Martinsen ◽  
Håvard Kalvøy ◽  
Sverre Grimnes ◽  
Bernt Nordbotten ◽  
Per Kristian Hol ◽  
...  
Keyword(s):  
Cardiac Arrest ◽  
Blood Vessels ◽  
Electrical Impedance ◽  
Low Cost ◽  
Positioning System ◽  
Impedance Tomography ◽  
Blood Vessel Detection ◽  
Vessel Detection ◽  
Novel Method ◽  
Controlled Reperfusion

We present a novel method for localization of large blood vessels using a bioimpedance based needle positioning system on an array of ten monopolar needle electrodes. The purpose of the study is to develop a portable, low cost tool for rapid vascular access for cooling and controlled reperfusion of cardiac arrest patients. Preliminary results show that localization of blood vessels is feasible with this method, but larger studies are necessary to improve the technology.

scholarly journals Indoor Localization System Using Wireless Sensor Network

2018 ◽  
pp. 29-38
Keyword(s):  
Indoor Localization ◽  
Low Cost ◽  
Wide Band ◽  
Human Movement ◽  
Indoor Positioning ◽  
Positioning System ◽  
Wireless System ◽  
Anchor Nodes ◽  
Indoor Positioning System ◽  
Better Than

Building a precise low cost indoor positioning and navigation wireless system is a challenging task. The accuracy and cost should be taken together into account. Especially, when we need a system to be built in a harsh environment. In recent years, several researches have been implemented to build different indoor positioning system (IPS) types for human movement using wireless commercial sensors. The aim of this paper is to prove that it is not always the case that having a larger number of anchor nodes will increase the accuracy. Two and three anchor nodes of ultra-wide band with or without the commercial devices (DW 1000) could be implemented in this work to find the Localization of objects in different indoor positioning system, for which the results showed that sometimes three anchor nodes are better than two and vice versa. It depends on how to install the anchor nodes in an appropriate scenario that may allow utilizing a smaller number of anchors while maintaining the required accuracy and cost.

Developing a Low-Cost, High Performance, SDR-Based Local Positioning System

2021 ◽  
Author(s):  
Fernando Palafox ◽  
Lyndsay Ruane ◽  
Scott Palo ◽  
Dennis Akos
Keyword(s):  
High Performance ◽  
Low Cost ◽  
Positioning System ◽  
Local Positioning System

scholarly journals Design of a Low-Cost Indoor Navigation System for Food Delivery Robot Based on Multi-Sensor Information Fusion

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4980 ◽  
Author(s):  
Yunlong Sun ◽  
Lianwu Guan ◽  
Zhanyuan Chang ◽  
Chuanjiang Li ◽  
Yanbin Gao
Keyword(s):  
Information Fusion ◽  
Low Cost ◽  
Wide Band ◽  
Indoor Navigation ◽  
Ultra Wide Band ◽  
Steering Control ◽  
Labor Costs ◽  
Effective Manner ◽  
The Impact ◽  
Meal Delivery

As the restaurant industry is facing labor shortage issues, the use of meal delivery robots instead of waiters/waitresses not only allows the customers to experience the impact of robot technology but also benefits the restaurant business financially by reducing labor costs. Most existing meal delivery robots employ magnetic navigation technologies, which require magnetic strip installation and changes to the restaurant decor. Once the moving path is changed, the magnetic strips need to be re-laid. This study proposes multisource information fusion, i.e., the fusion of ultra-wide band positioning technology with an odometer and a low-cost gyroscope accelerometer, to achieve the positioning of a non-rail meal delivery robot with navigation. By using a low-cost electronic compass and gyroscope accelerometer, the delivery robot can move along a fixed orbit in a flexible and cost-effective manner with steering control. Ultra-wide band (UWB) and track estimation algorithm are combined by extended Kalman filter (EKF), and the positioning error after fusion is about 15 cm, which is accepted by restaurants. In summary, the proposed approach has some potential for commercial applications.

Sign in / Sign up

Export Citation Format

Share Document