Abstract
UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV’s position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.
Highlights
UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible
The first one is comprised of the Near-Wall Positioning System (NWPS) tests to evaluate the accuracy of the proposed positioning system
Estimation errors during dynamic tests compared to the conveyor belt ground truth, Further analysisby of displacement the logged data can be Reference source notto found., t with data grouped speed in seen m/s.inAs expected, the error tends increase hat shows a box plot of the estimation errors during dynamic tests compared to the conwith the speed, but the error magnitude and dispersion are higher for the UWB than for veyor belt ground truth, with data grouped by displacement speed in estimation m/s
Summary
Most UAVs use a Global Navigation Satellite System (GNSS) to determine their position. Using UAV in civil and structural inspection applications is often limited to visual inspections, and GNSS is required [1,2] The literature on this subject shows efforts made to develop aerial platforms capable of performing sound-based [2], contact-based [3], or hammering inspection [4], even though positioning and navigation for these platforms have not yet been fully developed in these conditions. UAVs could change how some near-walls tasks are performed Applications such as painting a high wall, installing anchor points without scaffolding, performing weld inspection in hard to reach areas, or carrying out wall thickness measurements. These tasks are usually expensive and dangerous, making the potential use of UAVs very valuable. The previously mentioned limitations restrict the use of UAVs in this kind of applications
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