A Performance Analysis on Swarm Drone Loco Positioning System for Two-Way Ranging Protocol

Abstract

An important factor that should be taken note in swarm application is the localization of each aerial drone for accurate implementation of a specific task. Indoor localization techniques, such as vision systems and radio systems, are developed to answer the mentioned problem. This paper presents a performance analysis of loco positioning system through varying configurations for swarm drone applications. Loco Positioning System is a radio localization technique in which processes two ranging protocols such as the Two-Way Ranging and Time Difference of Arrival. Cases are divided into 2 parameters, namely the number of anchors used, and the distances between anchors. These two parameters are set since they are important factors for constraints in costs and working space. Data showed that increasing the number of anchors from 3 to 6 decreases the error from 25.96% to 8.45%; in addition, results also showed that decreasing the distance between anchors 0.6m to 1m would give minimal increase in error. This paper is able to provide a performance report based on accuracy for each case on the specified parameters. These data may be utilized by users in determining their ideal setup based on their constraints through the two mentioned parameters.