Position estimation system with UWB, IMU and a distance sensor for quad-rotors
Position estimation system with UWB, IMU and a distance sensor for quad-rotors
复制标题
具有 UWB、IMU 和四旋翼距离传感器的位置估计系统
DOI：
10.1109/tencon.2017.8228187
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
A. Masuda
中科院分区：
文献类型：
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作者：
Shunsuke Akahori;Yoshiyuki Higashi;A. Masuda
为了在桥下等gps抑制环境下估计四旋翼的位置，我们开发了一种利用超宽带（UWB）、惯性测量单元（IMU）和距离传感器的四旋翼位置估计系统。超宽带的精度达到几十厘米，比基于WiFi、蓝牙和GPS信号的传统定位系统要好好几倍。此外，在四旋翼上安装了距离传感器，提高了对高度的估计精度。本文给出了安装该系统的四旋翼飞行器的实验结果，以评估其估计精度。实验结果表明，该方法可达到0.03 m的高度精度。
In order to estimate the position of a quad-rotor in GPS-denied environment such as under bridges, we developed a position estimation system using ultra-wide band (UWB), inertial measurement unit (IMU), and distance sensor for the quad-rotor. The accuracy of UWB is tens of centimeters and the UWB is several times better than traditional positioning systems based on WiFi, Bluetooth and GPS signals. In addition, a distance sensor is mounted to the quad-rotor to improve the estimation accuracy of the altitude. This paper presents experimented results using the quad-rotor equipped with the developed system in order to evaluate the estimation accuracy. The experimental results show that an altitude accuracy of 0.03 m can be achieved.