Abstract
Abstract. Nowadays, Unmanned Aerial Vehicles represent a very popular tool used in dramatically wide range of applications: indeed, their high flexibility, ease of use, and in certain cases quite affordable price make them a very attractive solutions in a number of applications, including surveying and mapping. Despite such a wide range of uses, their usage in automatic/autonomous mode is still restricted by the requirement of the availability of a reliable positioning and navigation system, which in practically all the commercial solutions is represented by the Global Navigation Satellite System (GNSS). Unfortunately, the availability and reliability of GNSS cannot be ensured in all the working conditions of interest. In particular, such condition may not hold downtown, close to high buildings. Since this can also be an operative condition of wide interest, this paper aims at investigating the use of an alternative positioning method that can be integrated with GNSS in order to compensate its unavailability. To be more specific, this paper investigates the positioning performance of an Ultra Wide-Band (UWB) system when an UWB rover is attached to a drone flying close to a building facade, whereas a set of UWB anchors are on the ground, close to the facade. The results obtained in the case study of a building of the University of Padua show that the UWB system positioning performance is quite good (quite less than 1 meter error for most of the time) up to approximately 15–20 meters of distance from the anchors. Close to the top of the building the error significantly increases when using an Extended Kalman filter (EKF) positioning approach, probably mostly due to the low UWB measurement success rate at such heights and to the poor geometric configuration of the UWB network. Nevertheless, a Gauss-Newton-based positioning strategy outperforms the EKF in such critical case, still ensuring errors at 1 meter level.
Highlights
IntroductionThe popularity of Unmanned Aerial Vehicles (UAVs) has dramatically grown during the last decade, and, nowadays, their use is common in a large number of applications in several fields, such as civil engineering, building modeling and monitoring (Piras et al, 2017), environmental monitoring, forestry (Casbeer et al, 2006), precision agriculture (Zhang and Kovacs, 2012), disaster management and civil security (Maza et al, 2011, Baiocchi et al, 2013), and mapping (Remondino et al, 2011, Lo et al, 2015, Pepe et al, 2018), just to cite some
Currently Unmanned Aerial Vehicles (UAVs) navigation is enabled by the presence of a Global Navigation Satellite System (GNSS) positioning system, which ensures the movements of the UAV to the correct locations
This paper showed the performance of a positioning system based on Ultra Wide-Band (UWB) transceivers for tracking UAV movements close to a building facade, in order to compensate the potential unavailability of unreliability of GNSS
Summary
The popularity of Unmanned Aerial Vehicles (UAVs) has dramatically grown during the last decade, and, nowadays, their use is common in a large number of applications in several fields, such as civil engineering, building modeling and monitoring (Piras et al, 2017), environmental monitoring, forestry (Casbeer et al, 2006), precision agriculture (Zhang and Kovacs, 2012), disaster management and civil security (Maza et al, 2011, Baiocchi et al, 2013), and mapping (Remondino et al, 2011, Lo et al, 2015, Pepe et al, 2018), just to cite some. Readers are referred for instance to (Pajares, 2015, Colomina and Molina, 2014) for more complete overviews on the UAV applications. Given their commonly accepted utility in such a wide range of applications, the research community has recently focused on extending the usability of UAVs in more general scenarios, in particular to compensate the absence or unreliability of Global Navigation Satellite System (GNSS). Some efforts have been made to develop positioning approaches able
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