UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

Abstract

Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localization system, often with external feedback, in order to fly safely. Motion capture systems are typically utilized indoors when accurate localization is needed. However, these systems are expensive and most require a fixed setup. Recently, visualinertial odometry and similar methods have advanced to a point where autonomous UAVs can rely on them for localization. The main limitation in this case comes from the environment, as well as in long-term autonomy due to accumulating error if loop closure cannot be performed efficiently. For instance, the impact of low visibility due to dust or smoke in post-disaster scenarios might render the odometry methods inapplicable. In this paper, we study and characterize an ultra-wideband (UWB) system for navigation and localization of aerial robots indoors based on Decawave's DWM1001 UWB node. The system is portable, inexpensive and can be battery powered in its totality. We show the viability of this system for autonomous flight of UAVs, and provide open-source methods and data that enable its widespread application even with movable anchor systems. We characterize the accuracy based on the position of the UAV with respect to the anchors, its altitude and speed, and the distribution of the anchors in space. Finally, we analyze the accuracy of the selfcalibration of the anchors' positions.

Cooperative UWB-Based Localization for Outdoors Positioning and Navigation of UAVs aided by Ground Robots

“…Ultra-wideband (UWB) positioning systems are being increasingly adopted for autonomous systems [10].UWB positioning systems based on a series of fixed nodes in known locations (or anchors), and ranging measurements between these and mobile nodes (or tags), can be used for consistent, long-term localization of mobile robots [24], [8].Compared to RTK-based localization systems, UWB systems can be utilized both indoors and outdoors, can be automatically calibrated [25] for ad-hoc deployment, and offer similar accuracies at much lower prices. UWB sensors also have a small form factor and are generally considered more energy efficient than other wireless solutions.…”

“…Within the different approaches that can be used for cooperative relative localization, from visual sensors [6] to cooperative SLAM [7], wireless ranging technologies offer high performance with low system complexity [8]. In particular, ultra-wideband (UWB) wireless ranging offers un- paralleled localization performance within the different radio technologies in unlicensed bands [9].…”

Node Calibration in UWB-Based RTLSs Using Multiple Simultaneous Ranging

“…The advent of wireless technology and the large-scale proliferation of wireless communication devices have opened doors for several indoor RTLS applications in recent years [ 6 , 7 ]. For such indoor RTLS applications, the global navigation satellite system is, in general, not suitable due to the stringent requirement of high localization accuracy [ 8 ].…”

Configuring a UWB Based Location System for a UGV Operating in a Follow-Me Scenario

“…In recent years, Ultra-Wideband (UWB) location systems have been gaining more and more popularity. These systems with high accuracy, down to single centimeters [18], are based on radio modules. In location systems that are based on UWB modules, the location of a mobile UWB node can be determined on the basis of measurements of the distance to UWB nodes located in known locations.…”