Abstract
Due to its payload, size and computational limits, localizing a micro air vehicle (MAV) using only its onboard sensors in an indoor environment is a challenging problem in practice. This paper introduces an indoor localization approach that relies on only the inertial measurement unit (IMU) and four ultrasonic sensors. Specifically, a novel multi-ray ultrasonic sensor model is proposed to provide a rapid and accurate approximation of the complex beam pattern of the ultrasonic sensors. A fast algorithm for calculating the Jacobian matrix of the measurement function is presented, and then an extended Kalman filter (EKF) is used to fuse the information from the ultrasonic sensors and the IMU. A test based on a MaxSonar MB1222 sensor demonstrates the accuracy of the model, and a simulation and experiment based on the MAV platform are conducted. The results indicate good localization performance and robustness against measurement noises.
Highlights
Micro air vehicles (MAVs) are a type of drone and are approximately the size of a person’s hand.This property makes them easy to pack and allows them to be flown indoors
Many indoor localization technologies have been developed to achieve indoor localization, such as localization based on ranging sensors [1,2,3], Bluetooth [4], inertial measurement units (IMUs), cameras, ultra wide band (UWB) [5], wireless local area network (WLAN) [6], ZigBee [7] and radio frequency sensors [8]
The above approaches can be divided into two types according to whether the main localization sensors are placed on the unmanned aerial vehicle (UAV): onboard-sensor-based approaches and offboard-sensor-based approaches
Summary
Micro air vehicles (MAVs) are a type of drone and are approximately the size of a person’s hand. Three successful matching planes are selected to calculate the location of the robot based on the geometric relationship Considering their limited size and load, very few approaches are available for MAVs. The lidar-based and depth-camera-based approaches are too large or too heavy. The accuracies of the above systems range from 1.5 cm to 10 cm; these positioning approaches require special application conditions, such as arranging transmitters in the environment, time synchronization processing, and powerful computing capabilities They are hard to apply in MAVs. In [3], a ultrasonic-beacon-based approach is proposed to replace the role of GPS, it consists several stationary beacons and a mobile beacon and has a good balance between the weight and accuracy. Simulation and experimental results are presented to validate the proposed algorithm
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