In this paper, the numerical investigation of an ultra wideband (UWB) localization technique suitable for the tracking and control of an unmanned aerial vehicle (UAV) in a specific outdoor scenario is presented. A set of UWB nodes are located on a moving/still ground station (GS) and interrogate an UWB node placed on the UAV that is flying in front of the GS. The distances between the GS-nodes and the UAV-node are estimated through a conventional two-way time-of-flight ranging method, one at a time, and then used in a multilateration algorithm. Due to the unavoidable relative motion between the UAV and the GS, the above distances are actually measured for different UAV-GS relative positions, and then, the UAV localization performance deteriorates as a function of the UAV-GS relative speed and the ranging-method processing time. An approach is here proposed to mitigate the above adverse effect, by exploiting an estimate of the UAV-GS relative speed along the GS forward direction. A preliminary numerical analysis is used to show that a decimeter order localization accuracy can be obtained for a tridimensional localization process.
Numerical investigation of an UWB localization technique for unmanned aerial vehicles in outdoor scenarios
BUFFI, ALICE;NEPA, PAOLO;
2017-01-01
Abstract
In this paper, the numerical investigation of an ultra wideband (UWB) localization technique suitable for the tracking and control of an unmanned aerial vehicle (UAV) in a specific outdoor scenario is presented. A set of UWB nodes are located on a moving/still ground station (GS) and interrogate an UWB node placed on the UAV that is flying in front of the GS. The distances between the GS-nodes and the UAV-node are estimated through a conventional two-way time-of-flight ranging method, one at a time, and then used in a multilateration algorithm. Due to the unavoidable relative motion between the UAV and the GS, the above distances are actually measured for different UAV-GS relative positions, and then, the UAV localization performance deteriorates as a function of the UAV-GS relative speed and the ranging-method processing time. An approach is here proposed to mitigate the above adverse effect, by exploiting an estimate of the UAV-GS relative speed along the GS forward direction. A preliminary numerical analysis is used to show that a decimeter order localization accuracy can be obtained for a tridimensional localization process.File | Dimensione | Formato | |
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