Implementation of a multi-drone system for UWB-based onboard localization with free structural anchors

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-08-08 DOI:10.1016/j.mechatronics.2024.103234

Nam-Jin Park, Ki-Hyeon Kim, Jeong-Min Ma, Jin-Hee Son, Hyo-Sung Ahn

引用次数: 0

Abstract

Ultra-wideband (UWB) sensor-based localization systems have been widely used in various applications that require precise positioning. However, most existing localization systems in the literature have limited coverage areas due to the stationary anchors or ground control station (GCS)-based system. To address this limitation, this paper proposes a mobile UWB-based onboard localization system composed of multi-drones with free structural anchors. In this paper, we introduce the detailed hardware and software configuration of the proposed system, based on the robot operating system (ROS). Moreover, we present a modified multilateration method for real-time onboard localization, which improves the localization performance even in the case of coplanar anchors by adaptively adjusting the number of iterations based on the notion of innovation. Finally, the proposed system is verified through outdoor experiments, and the results are compared with existing localization methods.

查看原文本刊更多论文

利用自由结构锚实施基于 UWB 的机载定位多无人机系统

基于超宽带（UWB）传感器的定位系统已被广泛应用于各种需要精确定位的应用中。然而，由于采用固定锚点或基于地面控制站（GCS）的系统，大多数现有文献中的定位系统覆盖范围有限。针对这一局限性，本文提出了一种基于 UWB 的移动机载定位系统，该系统由带有自由结构锚的多架无人机组成。本文介绍了基于机器人操作系统（ROS）的拟议系统的详细硬件和软件配置。此外，我们还介绍了一种用于实时机载定位的改进型多方位定位方法，该方法通过基于创新概念自适应调整迭代次数，即使在共面锚点的情况下也能提高定位性能。最后，通过户外实验验证了所提出的系统，并将结果与现有的定位方法进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.