3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras

Sensors

José M. Villadangos¹  José A. Paredes²  Teodoro Aguilera²  Fernando J. Álvarez² 

[1] Department of Electronics, University of Alcalá, Alcalá de Henares, 28805 Madrid, Spain;Sensory System Research Group, University of Extremadura, 06006 Badajoz, Spain;

关键词: acoustic positioning system (APS);    unmanned aerial vehicles (UAV);    time-code division multiple access (T-CDMA);   

DOI  :  10.3390/s18010089

来源: DOAJ

【 摘 要 】

This work proposes the use of a hybrid acoustic and optical indoor positioning system for the accurate 3D positioning of Unmanned Aerial Vehicles (UAVs). The acoustic module of this system is based on a Time-Code Division Multiple Access (T-CDMA) scheme, where the sequential emission of five spread spectrum ultrasonic codes is performed to compute the horizontal vehicle position following a 2D multilateration procedure. The optical module is based on a Time-Of-Flight (TOF) camera that provides an initial estimation for the vehicle height. A recursive algorithm programmed on an external computer is then proposed to refine the estimated position. Experimental results show that the proposed system can increase the accuracy of a solely acoustic system by 70–80% in terms of positioning mean square error.

【 授权许可】

Unknown