A COMPARISON OF UWB AND MOTION CAPTURE UAV INDOOR POSITIONING

International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences

Fissore, F.^1¹  Masiero, A.^1² 

[1] Department of Information Engineering (DEI), University of Padova, via Gradenigo 6/B, Padova 35131, Italy^2;Interdepartmental Research Center of Geomatics (CIRGEO), University of Padova, Viale dell’Università 16, Legnaro (PD) 35020, Italy^1

关键词: Indoor positioning;    UAV;    UWB;    Motion Capture;    Extended Kalman Filter;   

DOI  :  10.5194/isprs-archives-XLII-2-W13-1695-2019

学科分类：地球科学(综合)

来源: Copernicus Publications

【 摘 要 】

The number of applications involving unmanned aerial vehicles (UAVs) grew dramatically during the last decade. Despite such incredible success, the use of drones is still quite limited in GNSS denied environment: indeed, the availability of a reliable GNSS estimates of the drone position is still fundamental in order to enable most of the UAV applications. Given such motivations, in this paper an alternative positioning system for UAVs, based on low cost ultra-wideband band (UWB) is considered. More specifically, this work aims at assessing the positioning accuracy of UWB-based positioning thanks to the comparison with positions provided by a motion capture (MoCap) system. Since the MoCap accuracy is much higher than that of the UWB system, it can be safely used as a reference trajectory for the validation of UWB estimates. In the considered experiment the UWB system allowed to obtain a root mean square error of 39.4 cm in 3D positioning based on the use of an adaptive extended Kalman filter, where the measurement noise covariance was adaptively estimated.

【 授权许可】

CC BY