Uav Positioning and Collision Avoidance Based on RSS Measurements

Abstract

ABSTRACT:In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use of WiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

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“…Collection and processing of UAVs data are a fairly consolidated practice and is possible to find many case studies in the scientific literature to acquire RGB images (just to mention a few of them: Fiorillo et al, 2013;Georgopoulos et al, 2016;Gruen, 2009;Sauerbier & Eisenbeiss, 2010), also in multitemporal application or multispectral data Piras et al, 2016;Masiero et al, 2015;Spanò et al, 2016). Many authors have successfully used UAVs in different contexts and with different purposes for large-scale documentation of Cultural Heritage.…”

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

“…Static 3D UWB positioning can be obtained by ranging measurements of at least four anchors (trilateration problem [38][39][40][41]; Appendix A). Anchor positions have to be known in order to make the tag positioning problem solvable.…”

Photogrammetric 3d Reconstruction in Matlab: Development of A Free Tool

“…For instance, mobile mapping systems, based either on terrestrial/aerial vehicles or on human carried devices (Remondino et al, 2011, Al Hamad and El Sheimy, 2014, Chiang et al, 2012, Ballarin et al, 2017, Masiero et al, 2015, Fissore et al, 2017b, which have been used in the last dozen of years in order to map and monitor areas of interest, typically integrate information provided by laser scanners, cameras with position and orientation information provided by GNSS/IMU (Inertial Measurement Unit) or other positioning sensors, e.g. Perakis, 2016, Goel et al, 2017).…”