Robust UWB Navigation System for UAV Swarm

被引：2

作者：

Chen, Suqin ^{[1
]}

Xing, Aoran ^{[1
]}

Li, Xuehai ^{[1
]}

Wang, Yita ^{[1
]}

Liu, Wei ^{[1
,2
]}

机构：

[1] Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen, Peoples R China

[2] Southern Univ Sci & Technol, Taizhou Res Inst, Taizhou, Peoples R China

来源：

2023 9TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND ROBOTICS ENGINEERING, ICMRE | 2023年

基金：

北京市自然科学基金;

关键词：

UWB; Localization; Navigation; UAV swarm;

D O I：

10.1109/ICMRE56789.2023.10106570

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The current mainstream localization techniques are not suitable for indoor cooperative UAV swarm no matter the accuracy or the independency. An indoor UWB coordination system is proposed to compensate the accumulated errors of inertial coordination unit (IMU) system to achieve centimeter level localization for the indoor cooperative UAV swarm. Several algorithms are deployed to optimize the location result to make it more accurate and robustized.

引用

页码：101 / 105

页数：5

共 9 条

[1] Abdelkrim Nemra, 2008, 16th Mediterranean Conference on Control & Automation, MED 2008, P695, DOI 10.1109/MED.2008.4602149
[2] Beder C, 2012, INT C INDOOR POSIT
[3] Hess W, 2016, IEEE INT CONF ROBOT, P1271, DOI 10.1109/ICRA.2016.7487258
[4] How Jonathan, 2004, AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, P6490, DOI [10.2514/6.2004-6490, DOI 10.2514/6.2004-6490]
[5] The Microsoft Indoor Localization Competition
Lymberopoulos, Dimitrios
Liu, Jie
[J]. IEEE SIGNAL PROCESSING MAGAZINE, 2017, 34 (05) : 125 - 140
[6] Preiss James A., 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA), P3299, DOI 10.1109/ICRA.2017.7989376
[7] Tiemann J, 2015, INT C INDOOR POSIT
[8] Consumer-grade global positioning system (GPS) accuracy and reliability
Wing, MG
Eklund, A
Kellogg, LD
[J]. JOURNAL OF FORESTRY, 2005, 103 (04) : 169 - 173
[9] A robust localization algorithm in wireless sensor networks
Li X.
Hua B.
Shang Y.
Xiong Y.
[J]. Frontiers of Computer Science in China, 2008, 2 (4): : 438 - 450

← 1 →