An Acoustic Based Local Positioning System for Dynamic UAV in GPS-Denied Environments

IF 0.8 4区农林科学 Q4 AGRICULTURAL ENGINEERING

Applied Engineering in Agriculture Pub Date : 2023-01-01 DOI:10.13031/aea.15397

Lok Wai Jacky Tsay, Shiigi Tomoo, Zichen Huang, Hiroaki Nakanishi, Tetsuhito Suzuki, K. Shiraga, Y. Ogawa, N. Kondo

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引用次数: 0

Abstract

Highlights A positioning system for mobile UAVs is needed in a GPS-denied environment. A Doppler shift compensation algorithm was proposed. The successful detection rate and positioning errors were 90.2% and 75.9 ± 39.1 mm, respectively. The system performance meets the requirements for mobile UAVs in an indoor environment. Abstract. An alternative positioning system, the Spread Spectrum Sound-based Local Positioning System (SSSLPS), was developed to extend the usage of UAVs in GPS-denied environments, such as greenhouses. To date, it has been proven that the SSSLPS could provide a centimeter-level locational accuracy of static objects and dynamic ground robots. In this research, the ranging and positioning performance of SSSLPS were evaluated with the system mounted on a UAV. Meanwhile, to minimize the Time of Arrival (ToA) estimation error and improve positioning accuracy, a novel Doppler shift compensation algorithm was proposed. Experiments were conducted, and the measurement accuracy was evaluated by comparing the measurement of the motion capture system. The results show a successful detection rate of 90.2% using the proposed algorithm and a position error of 75.9 mm. These results demonstrate that the SSSLPS with spectrum peak algorithm can improve positioning accuracy and enable the SSSLPS to be an accurate positioning system for UAVs in a greenhouse. Keywords: Dopper shift, Greenhouse robots, Positioning system, ToA estimation, UAV.

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gps拒绝环境下基于声学的动态无人机局部定位系统

在gps被阻断的环境下，移动无人机需要一个定位系统。提出了一种多普勒频移补偿算法。检测成功率90.2%，定位误差75.9±39.1 mm。系统性能满足移动无人机在室内环境下的使用要求。摘要另一种定位系统——基于扩频声音的局部定位系统(SSSLPS)被开发出来，以扩展无人机在gps拒绝环境(如温室)中的使用。迄今为止，已经证明SSSLPS可以为静态物体和动态地面机器人提供厘米级的定位精度。在本研究中，对SSSLPS系统安装在无人机上的测距和定位性能进行了评估。同时，为了减小到达时间(ToA)估计误差，提高定位精度，提出了一种新的多普勒频移补偿算法。进行了实验，通过对比运动捕捉系统的测量结果，对测量精度进行了评价。结果表明，该算法的检测成功率为90.2%，定位误差为75.9 mm。结果表明，采用谱峰算法的SSSLPS可以提高定位精度，使SSSLPS成为温室无人机的精确定位系统。关键词:多普勒频移，温室机器人，定位系统，ToA估计，无人机

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来源期刊

Applied Engineering in Agriculture 农林科学-农业工程

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

6 months

期刊介绍： This peer-reviewed journal publishes applications of engineering and technology research that address agricultural, food, and biological systems problems. Submissions must include results of practical experiences, tests, or trials presented in a manner and style that will allow easy adaptation by others; results of reviews or studies of installations or applications with substantially new or significant information not readily available in other refereed publications; or a description of successful methods of techniques of education, outreach, or technology transfer.