Radio Frequency (RF)-based, Real-Time, Indoor Localization System for Unmanned Aerial Vehicles and Mobile Robot Applications

The goal of this paper is to describe the indoor localization of a moving object, such as, an UAV or mobile robot, in real time. For localization, the triangulation method is used, based on a multiple fixed points anchors. The distance measurement between the moving object and the anchors is realized with DWM1000 UWB compliant, wireless transceiver modules. For distance measurement, the double-sided, two-way ranging method is used. The position is revealed after the triangulation is corrected, based on the Kalman filter. This computationally intensive task is running on FPGA and provides a real-time operation. One of the anchors is connected to FPGA with a serial communication interface. For the triangulation and Kalman filter, hardware module generation high level synthesis, is used. In the paper, in addition to the implementation, measurement results are also presented for real-time localization.