System Architecture of a Demonstrator for Indoor Aerial Navigation

d'Apolito, Francesco; Sulzbachner, Christoph

doi:10.1016/j.ifacol.2019.12.542

Cited by 2 publications

(1 citation statement)

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“…A third sensor can also be added to the UWB/IMU approach, such as a light scanner in [ 47 ], a frequency modulated continuous wave (FMCW) radar in [ 48 ] or a real-time kinematic global positioning system (RTK-GPS) in [ 49 ]. Another popular approach is to add visual data to the UWB-based RTLS as in [ 50 , 51 , 52 , 53 ]. Laser imaging detection and ranging (LIDAR) sensors have also been used to improve the UWB accuracy for UAV location in [ 54 ], where a drone had to fly close to a wall.…”

Section: Introductionmentioning

confidence: 99%

UWB and IMU-Based UAV’s Assistance System for Autonomous Landing on a Platform

Ochoa-de-Eribe-Landaberea

Zamora-Cadenas

Peñagaricano-Muñoa³

et al. 2022

Sensors

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This work presents a novel landing assistance system (LAS) capable of locating a drone for a safe landing after its inspection mission. The location of the drone is achieved by a fusion of ultra-wideband (UWB), inertial measurement unit (IMU) and magnetometer data. Unlike other typical landing assistance systems, the UWB fixed sensors are placed around a 2 × 2 m landing platform and two tags are attached to the drone. Since this type of set-up is suboptimal for UWB location systems, a new positioning algorithm is proposed for a correct performance. First, an extended Kalman filter (EKF) algorithm is used to calculate the position of each tag, and then both positions are combined for a more accurate and robust localisation. As a result, the obtained positioning errors can be reduced by 50% compared to a typical UWB-based landing assistance system. Moreover, due to the small demand of space, the proposed landing assistance system can be used almost anywhere and is deployed easily.

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