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  -