Indoor Aerial Vehicle Navigation Using Ultra Wideband Active Two-way Ranging
(Room 283-285)
03 May 16
10:30 AM
-
11:00 AM
Tracks:
Air, Commercial, Defense, Research and Development, Tech Track: Developments in Autonomy
Precision, robust localization is a key requirement for the safe and effective use of mobile robots. Ultra Wideband (UWB) ranging and communications has been shown to support precision and robust localization indoors and in high multipath venues where GNSS is compromised [1]. Recent research is aimed towards integrating this technology into a variety of unmanned mobile platforms, fusing peer-to-peer ranging into intrinsic recursive optimal localization solutions [2-3]. This session, and its associated paper, will extend this research and demonstrate three-dimensional real-time location and velocity estimation indoors on a small (<10 lb) modified quadcopter platform. A pre-recorded video will be used to demonstrate the quadrotor in action with side-by-side 3D precision localization solution display in an . We will then set up a live demonstration using hand-carried UWB radios with battery-powered anchor autosurvey. Keying on audience interaction, this demonstration provides a real-time sense of the setup process and the accuracy, update rate, and coverage volume attainable through such a system. The associated paper and presentation will describe the underlying ranging, network, and navigation processes in detail, pointing out the error sources due to both survey misalignment, range measurement jitter, and geometric dilution of precision (GDOP). The scalability of the system will be described as a function of update rate and maximum coverage area. Finally, we will discuss how one may apply this technology to precision video inspection and formation flying. [1] Dewberry, B. and Petroff, A. (2015) Precision Navigation with Ad-hoc Autosurvey using Ultra Wideband Two Way Ranging Network, IEEE 12th Workshop on Positioning, Navigation, and Communications (WPNC 2015), Dresden, Germany, March 11-12, 2015. [2] Dewberry, B. (2015) Fused Ultra Wideband Synthetic Aperture Radar and Ranging for Navigation and Collision Avoidance in Unmanned Vehicles, Unmanned Systems 2015 [3] Mueller, M., Hamer, M., and D'Andrea, R, (2015) Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadcopter state estimation, IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 26-30, 2015.