Ultra-wideband based pose estimation for small unmanned aerial vehicles
Please always quote using this URN: urn:nbn:de:bvb:20-opus-177503
- 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 usingThis 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°.…
Author: | Michael StrohmeierORCiD, Thomas Walter, Julian Rothe, Sergio Montenegro |
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URN: | urn:nbn:de:bvb:20-opus-177503 |
Document Type: | Journal article |
Faculties: | Fakultät für Mathematik und Informatik / Institut für Informatik |
Language: | English |
Parent Title (English): | IEEE Access |
Year of Completion: | 2018 |
Volume: | 6 |
Pagenumber: | 57526-57535 |
Source: | IEEE Access 2018, Volume 6, 57526-57535. DOI: 10.1109/ACCESS.2018.2873571 |
DOI: | https://doi.org/10.1109/ACCESS.2018.2873571 |
Dewey Decimal Classification: | 6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften / 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten |
Tag: | DecaWave; UAV; UWB; distance measurement; extended Kalman filter; navigation; pose estimation |
Release Date: | 2019/04/11 |
Collections: | Open-Access-Publikationsfonds / Förderzeitraum 2018 |
Licence (German): | CC BY: Creative-Commons-Lizenz: Namensnennung |