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Abstract
In this paper, a high-precision ultra-wideband (UWB) based unmanned aerial vehicle (UAV) localisation approach is proposed for applications in extremely confined environments. It is motivated by the emerging demand on autonomous inspection in such environments that are hard or impossible for humans to access. Instead of the traditional localisation techniques such as global positioning system (GPS), vision based or other localisation techniques, the UWB based localisation technique is adopted for precise UAV positioning due to its high accuracy, implementation simplicity and suitability in such environments. To avoid the requirement on strict synchronisation between sensor nodes and provide decimetre-level accuracy, the proposed algorithm combined the two-way time-of-flight (TW-TOF) localisation scheme with the maximum likelihood estimation (MLE) method. This differs from applications in other environments, the number and deployment area of anchor nodes are highly restricted in such environments. Therefore, an in-depth investigation for the anchor deployment strategies is presented to find the most suitable geometry configurations with accurate and robust performance. Finally, extensive simulations, static experiments and flight tests have been conducted to validate the localisation performance under different deployment strategies. The experiments show that average localisation error and standard deviation (STD) under 0.2 m and 0.07 m are obtainable by using our proposed approach under three different geometry configurations of anchor nodes. This is suitable for different applications in extremely confined environments.
Original language | English |
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Pages (from-to) | 1020-1029 |
Number of pages | 10 |
Journal | IEEE Sensors Journal |
Volume | 22 |
Issue number | 1 |
Early online date | 25 Nov 2021 |
DOIs | |
Publication status | Published - 1 Jan 2022 |
Keywords
- 3D Localisation
- Ultra-wideband (UWB)
- Unmanned Aerial Vehicle (UAV)
- Extremely Confined Environments
- Anchor Deployment Strategy
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Dive into the research topics of 'High-precision UWB based localisation for UAV in extremely confined environments'. Together they form a unique fingerprint.-
Novel Path Planning Algorithms and Smart Navigation Strategies of Multiple Autonomous Robots for the Visual Inspection of Asset Integrity in Confined Space
1/10/19 → 31/03/23
Project: Research - Studentship
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Adaptive extended Kalman filter based fusion approach for high precision UAV positioning in extremely confined environments
Yang, B., Yang, E., Yu, L. & Niu, C., 2022, In: IEEE/ASME Transactions on Mechatronics. p. 1-12 12 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile14 Downloads (Pure) -
A survey on radio frequency based precise localisation technology for UAV in GPS-denied environment
Yang, B. & Yang, E., 6 Oct 2021, In: Journal of Intelligent and Robotic Systems. 103, 3, 38.Research output: Contribution to journal › Literature review › peer-review
Open AccessFile10 Citations (Scopus)26 Downloads (Pure) -
Vision and UWB-based anchor self-localisation system for UAV in GPS-denied environment
Yang, B., Yang, E. & Yu, L., 26 May 2021, In: Journal of Physics: Conference Series . 1922, 1, 7 p., 012001.Research output: Contribution to journal › Conference Contribution › peer-review
Open AccessFile1 Citation (Scopus)5 Downloads (Pure)