A UAV Localization System Based on Double UWB Tags and IMU for Landing Platform

Zeng, Qingxi; Jin, Yu; Yu, Haonan; You, Xia

doi:10.1109/jsen.2023.3260311

Cited by 6 publications

(2 citation statements)

References 23 publications

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“…However, for applications with large-range, high-precision RL requirements, the accuracy of the RFID system may be low. In [20], an RL algorithm based on the fusion of relative navigation sensors was proposed. It mainly involves combining information from different sensors, such as inertial navigation systems and magnetometers, to improve the robustness of RL.…”

Section: Introductionmentioning

confidence: 99%

Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors

Guo,

Gan,

2024

Sensors

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Relative localization (RL) and circumnavigation is a highly challenging problem that is crucial for the safe flight of multi-UAVs (multiple unmanned aerial vehicles). Most methods depend on some external infrastructure for positioning. However, in some complex environments such as forests, it is difficult to set up such infrastructures. In this paper, an approach to infrastructure-free RL estimations of multi-UAVs is investigated for circumnavigating a slowly drifting UGV0 (unmanned ground vehicle 0), where UGV0 serves as the RL and circumnavigation target. Firstly, a discrete-time direct RL estimator is proposed to ascertain the coordinates of each UAV relative to the UGV0 based on intelligent sensing. Secondly, an RL fusion estimation method is proposed to obtain the final estimate of UGV0. Thirdly, an integrated estimation control scheme is also proposed for the application of the RL fusion estimation method to circumnavigation. The convergence and the performance are analyzed. The simulation results validate the effectiveness of the proposed algorithm for RL fusion estimations and of the integrated scheme.

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Section: Introductionmentioning

confidence: 99%

Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors

Guo,

Gan,

2024

Sensors

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“…SINS/LiDAR [ 19 ], SINS/UWB [ 20 ], SINS/WSN [ 21 ], and other typical combined positioning systems are used to address the position error accumulation issue with SINS. The development of UWB [ 22 ] positioning systems in indoor [ 23 , 24 , 25 ], unmanned aerial vehicles (UAV) [ 26 , 27 ], and smart car applications [ 28 ], as well as their gradual use in the hard environment of underground coal mines [ 29 , 30 ], show the technology’s great environmental resilience.…”

Section: Introductionmentioning

confidence: 99%

Research on IMU-Assisted UWB-Based Positioning Algorithm in Underground Coal Mines

Wang

Zhang

et al. 2023

Micromachines

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The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude. Position accuracy is often affected by multipath, non-visible ranges, base station layout, and more. We proposed an IMU-assisted UWB-based positioning system for the provision of positioning and orientation services to coal miners in underground mines. The Error-State Kalman Filter (ESKF) is used to filter the errors in the measured data from the IMU-assisted UWB positioning system to obtain the best estimate of the error for the current situation and correct for inaccuracies due to approximations. The base station layout of the IMU-assisted UWB positioning system was also simulated. The reasonable setting of the reference base station location can suppress multi-access interference and improve positioning accuracy to a certain extent. Numerous simulation experiments have been conducted in GPS denial environments, such as underground coal mines. The experimental results show the effectiveness of the method for determining the position, direction, and attitude of the coal miner under the mine, which provides a better reference value for positioning and orientation in a GPS rejection environment such as under the mine.

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