TY - JOUR A1 - Strohmeier, Michael A1 - Walter, Thomas A1 - Rothe, Julian A1 - Montenegro, Sergio T1 - Ultra-wideband based pose estimation for small unmanned aerial vehicles JF - IEEE Access N2 - This paper proposes a 3-D local pose estimation system for a small Unmanned Aerial Vehicle (UAV) with a weight limit of 200 g and a very small footprint of 10 cm×10cm. The system is realized by fusing 3-D position estimations from an Ultra-Wide Band (UWB) transceiver network with Inertial Measurement Unit (IMU) sensor data and data from a barometric pressure sensor. The 3-D position from the UWB network is estimated using Multi-Dimensional Scaling (MDS) and range measurements between the transceivers. The range measurements are obtained using Double-Sided Two-Way Ranging (DS-TWR), thus eliminating the need for an additional clock synchronization mechanism. The sensor fusion is accomplished using a loosely coupled Extended Kalman Filter (EKF) architecture. Extensive evaluation of the proposed system shows that a position accuracy with a Root-Mean-Square Error (RMSE) of 0.20cm can be obtained. The orientation angle can be estimated with an RMSE of 1.93°. KW - UAV KW - navigation KW - pose estimation KW - distance measurement KW - DecaWave KW - extended Kalman filter KW - UWB Y1 - 2018 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-177503 VL - 6 ER - TY - JOUR A1 - Grzesik, Benjamin A1 - Baumann, Tom A1 - Walter, Thomas A1 - Flederer, Frank A1 - Sittner, Felix A1 - Dilger, Erik A1 - Gläsner, Simon A1 - Kirchler, Jan-Luca A1 - Tedsen, Marvyn A1 - Montenegro, Sergio A1 - Stoll, Enrico T1 - InnoCube — a wireless satellite platform to demonstrate innovative technologies JF - Aerospace N2 - A new innovative satellite mission, the Innovative CubeSat for Education (InnoCube), is addressed. The goal of the mission is to demonstrate “the wireless satellite”, which replaces the data harness by robust, high-speed, real-time, very short-range radio communications using the SKITH (SKIpTheHarness) technology. This will make InnoCube the first wireless satellite in history. Another technology demonstration is an experimental energy-storing satellite structure that was developed in the previous Wall#E project and might replace conventional battery technology in the future. As a further payload, the hardware for the concept of a software-based solution for receiving signals from Global Navigation Satellite Systems (GNSS) will be developed to enable precise position determination of the CubeSat. Aside from technical goals this work aims to be of use in the teaching of engineering skills and practical sustainable education of students, important technical and scientific publications, and the increase of university skills. This article gives an overview of the overall design of the InnoCube. KW - CubeSat KW - wireless-bus KW - harness free satellite KW - satellite technology KW - CubeSat GNSS KW - laser ranging KW - structural battery KW - dependable software KW - Rodos Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-239564 SN - 2226-4310 VL - 8 IS - 5 ER - TY - JOUR A1 - Walter, Thomas A1 - Degen, Jacqueline A1 - Pfeiffer, Keram A1 - Stöckl, Anna A1 - Montenegro, Sergio A1 - Degen, Tobias T1 - A new innovative real-time tracking method for flying insects applicable under natural conditions JF - BMC Zoology N2 - Background Sixty percent of all species are insects, yet despite global efforts to monitor animal movement patterns, insects are continuously underrepresented. This striking difference between species richness and the number of species monitored is not due to a lack of interest but rather to the lack of technical solutions. Often the accuracy and speed of established tracking methods is not high enough to record behavior and react to it experimentally in real-time, which applies in particular to small flying animals. Results Our new method of real-time tracking relates to frequencies of solar radiation which are almost completely absorbed by traveling through the atmosphere. For tracking, photoluminescent tags with a peak emission (1400 nm), which lays in such a region of strong absorption through the atmosphere, were attached to the animals. The photoluminescent properties of passivated lead sulphide quantum dots were responsible for the emission of light by the tags and provide a superb signal-to noise ratio. We developed prototype markers with a weight of 12.5 mg and a diameter of 5 mm. Furthermore, we developed a short wave infrared detection system which can record and determine the position of an animal in a heterogeneous environment with a delay smaller than 10 ms. With this method we were able to track tagged bumblebees as well as hawk moths in a flight arena that was placed outside on a natural meadow. Conclusion Our new method eliminates the necessity of a constant or predictable environment for many experimental setups. Furthermore, we postulate that the developed matrix-detector mounted to a multicopter will enable tracking of small flying insects, over medium range distances (>1000m) in the near future because: a) the matrix-detector equipped with an 70 mm interchangeable lens weighs less than 380 g, b) it evaluates the position of an animal in real-time and c) it can directly control and communicate with electronic devices. KW - natural environment KW - insect tracking KW - real-time KW - movement ecology KW - heterogeneous background Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-265716 VL - 6 ER -