A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios

Mueller, Mark W.

doi:10.1115/dscc2018-9079

Cited by 6 publications

(6 citation statements)

References 19 publications

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“…The experiment utilized 5 UWB beacons and the drone is set to execute the two mentioned tasks. Results from the experimentation suggested that there was a relatively large error in the position tracking [11].…”

Section: Previous Workmentioning

confidence: 99%

A Performance Analysis on Drone Loco Positioning System for Two-Way Ranging Protocol

Chu

Chua²,

Sybingco³

et al. 2022

AEJ

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Localization is vital in UAV operation as it monitors the position of each drone in a workspace. Existing localization techniques such as GPS are limited for outdoor implementations and cannot be implemented inside closed spaces or GPS denied areas. To address this concern localization techniques, such as vision systems and radio systems, are developed. The drawback of vision systems is the cost of implementation as the system usually requires multiple cameras strategically positioned around the experimental space to monitor the aerial drone’s position and orientation. Radio localization, on the other hand, is a cheaper alternative for indoor localization as it requires only a set of anchor and tags that communicates through a certain radio frequency; however, experimental setups and materials on this localization technique is limited at this time. This paper offers an analysis of the performance of the loco positioning system, a form of radio localization, through varying configurations for swarm drone applications. The Loco Positioning System possesses two protocols; and this paper focuses on the Two-Way Ranging protocol. The study presents different setup configurations governed by 2 parameters; number of anchors used, and the distance set between anchors, and their corresponding performances. Data showed that an increase in anchor count from 3 to 6 decreases error from 25.96% to 8.45%, and that decreasing the distance between anchors 0.6 m to 1 m would give a minimal increase in error. Users may use these performance reports to determine their ideal setup based on the mentioned parameters.

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Section: Previous Workmentioning

confidence: 99%

A Performance Analysis on Drone Loco Positioning System for Two-Way Ranging Protocol

Chu

Chua²,

Sybingco³

et al. 2022

AEJ

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“…So the states that we are interested in are s E QF , ṡE QF , R EQ . We follow the approach shown in [15] to derive the prediction and measurement update steps.…”

Section: Relative State Estimationmentioning

confidence: 99%

Docking two multirotors in midair using relative vision measurements

Jain,

Park,

Mueller

2020

Preprint

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Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for relative localization of one multirotor with respect to another using only onboard sensors, specifically an inertial measurement unit and a camera-marker pair. Acceleration and angular velocity measurements along with relative pose measurements from a camera on the first multirotor looking at a marker on the second multirotor are used to estimate the relative position and velocity of the first multirotor with respect to the second, and the absolute attitude of the first multirotor. We also present a control architecture to use these onboard state estimates to control the first multirotor at a desired setpoint with respect to the second. The performance of the estimator and control architecture are experimentally validated a by successfully and repeatably performing midair docking -a task that requires relative position precision on the order of a centimeter.

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“…A common leisure application for UAV swarms is the frequently witnessed light shows that utilize drones as a green alternative to fireworks. As the number of potential applications of Swarm UAV increases, a significant effort in developing efficient control systems to aid in maneuvering multiple UAVs, while requiring the user to remotely control at most a single drone becomes more and more necessary [6][7][8][9][10]. A critical factor in the control system for swarm implementation is its localization system.…”

Section: Introductionmentioning

confidence: 99%

Swarm Uav Implementation Using Radio Localization on GPS Denied Areas

Chu

Chua

Say

et al. 2022

AEJ

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Swarming is a rapidly growing idea that is being implemented in UAV applications. Its effectiveness and efficiency in finding solutions or executing the desired task served as the main motivation for this study. Localization techniques are vital for swarm implementation and deployment since it one of the main determining factors in its performance. Vision systems have been widely used for localization; however, it may be costly as it requires multiple appropriate cameras. Another localization technique, which is explored in this research, is radio localization. This localization employs Ultrawide-Band radios to communicate with each other to return a target’s position with respect to several reference points. The study presents a new collaborative UAV implementation deployed using radio localized systems for harsh or unknown environments. The study used the Loco Positioning System operating on the Time Difference of Arrival protocol to maneuver two UAVs in a workspace. The study determined how well the system can execute the desired flight path and the performance of the system in keeping the set distance between UAVs to avoid possible collisions. Results of the study showed that the proposed implementation was successful in maneuvering the UAVs flying 0.3 m apart.

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A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios

Cited by 6 publications

References 19 publications

A Performance Analysis on Drone Loco Positioning System for Two-Way Ranging Protocol

A Performance Analysis on Drone Loco Positioning System for Two-Way Ranging Protocol

Docking two multirotors in midair using relative vision measurements

Swarm Uav Implementation Using Radio Localization on GPS Denied Areas

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