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Abstract
With the increasing applications of unmanned aerial vehicles (UAVs) in industries, it has drawn dramatic interests that utilising UAVs for internal inspection of oil tanks and vessels in recent years. Due to the fact that there is no global positioning system (GPS) and limited prior knowledge about operational environment, it is an unsolved problem on how to get the precise position information without relying on prior knowledge. To solve this problem, a Vision Aided Self-Localisation Two-way Time of Flight (VASTWTOF) algorithm is proposed. In the proposed algorithm, ultra-wideband (UWB) based sensor nodes are utilised for UAVs to achieve precise localisation in GPS-denied environment and the vision-based approach is adopted for anchor self-localisation. The simulation results show that the proposed algorithm can greatly improve the localisation performance and could be used for UAVs' precise localisation in GPS-denied environment, especially for the internal inspection of oil tanks and vessels.
Original language | English |
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Article number | 012001 |
Number of pages | 7 |
Journal | Journal of Physics: Conference Series |
Volume | 1922 |
Issue number | 1 |
DOIs | |
Publication status | Published - 26 May 2021 |
Event | 5th International Conference on Robotics and Machine Vision - Online Duration: 26 Feb 2021 → 28 Feb 2021 http://www.icrmv.org/icrmv_2021.html |
Keywords
- UWB
- positioning
- localization algorithm
- UAV
- vision
Fingerprint
Dive into the research topics of 'Vision and UWB-based anchor self-localisation system for UAV in GPS-denied environment'. Together they form a unique fingerprint.Projects
- 1 Finished
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LOCUST: Low-Cost Intelligent UAV Swarming Technology for Visual Inspection of Oil and Gas Vessels
Yang, E. (Principal Investigator), Yan, X. (Co-investigator), Gu, D. (Co-investigator), Wong, C. (Researcher), Yu, L. (Researcher), Yang, B. (Researcher), Fei, Z. (Researcher) & Niu, C. (Researcher)
1/06/19 → 31/12/21
Project: Research
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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., 1 Feb 2023, In: IEEE/ASME Transactions on Mechatronics. 28, 1, p. 543-554 12 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile19 Citations (Scopus)43 Downloads (Pure) -
High-precision UWB based localisation for UAV in extremely confined environments
Yang, B., Yang, E., Yu, L. & Loeliger, A., 1 Jan 2022, In: IEEE Sensors Journal. 22, 1, p. 1020-1029 10 p.Research output: Contribution to journal › Article › peer-review
Open AccessFile32 Citations (Scopus)92 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 AccessFile36 Citations (Scopus)494 Downloads (Pure)