Abstract
The indoor environment has brought new challenges for micro Unmanned Aerial Vehicles (UAVs) in terms of their being able to execute tasks with high positioning accuracy. Conventional positioning methods based on GPS are unreliable, although certain circumstances of limited space make it possible to apply new technologies. In this paper, we propose a novel indoor self-positioning system of UAV based on a heterogeneous sensing system, which integrates data from a structured light scanner, ultra-wideband (UWB), and an inertial navigation system (INS). We made the structured light scanner, which is composed of a low-cost structured light and camera, ourselves to improve the positioning accuracy at a specified area. We applied adaptive Kalman filtering to fuse the data from the INS and UWB while the vehicle was moving, as well as Gauss filtering to fuse the data from the UWB and the structured light scanner in a hovering state. The results of our simulations and experiments demonstrate that the proposed strategy significantly improves positioning accuracy in motion and also in the hovering state, as compared to using a single sensor.
Highlights
A GPS-based positioning system is a nearly perfect approach to Unmanned Aerial Vehicles (UAVs) positioning in an outdoor environment, and it is widely used for many kinds of devices, including smartphones, self-driving cars, and so on
We proposed a low-cost heterogeneous sensing system based on inertial navigation system (INS), UWB, for vehicles in motion
We focus on a setup based on a combination of INS, UWB, and a structured light scanner that is expected to provide improved positioning capability
Summary
A GPS-based positioning system is a nearly perfect approach to UAV positioning in an outdoor environment, and it is widely used for many kinds of devices, including smartphones, self-driving cars, and so on. We proposed a low-cost heterogeneous sensing system based on INS, UWB, for vehicles in motion. INS, UWB, light scanner, is possible to realize higher of the heterogeneous sensing. Withand thestructured fusion of the UWB, it and structured light scanner, stability as well as precision forstability an apparatus the moving hovering. It is possible to realize higher as wellinasboth precision for anand apparatus instates Both the movingthere and are other technologies that can provide higher accuracy, the proposed method stands out for its hovering states. While the is hovering in the specified area, the structured light scanner will start the UWB. While the UAV is hovering in the specified area, the structured light scanner will start to to work asan anauxiliary auxiliary device to retrieve accurate positioning information.
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