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Detail
Journal Article
Ultrawideband coupled relative positioning algorithm applicable to flight controller for multidrone collaboration
- Authors
- Jeonggi Yang, Soojeon Lee
- Issue Date
- 2023-10
- Citation
- ETRI Journal, v.45, no.5, pp.758-767
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원
- Language
- English
- Type
- Journal Article
- Abstract
- In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter‐based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Via simulations, we confirm the feasibility of the algorithm and verify its distance error correction performance according to the amount of communications. Real‐world tests confirm the algorithm's effectiveness on FCs and the potential for multidrone collaboration in real environments. This method can be used to correct relative multidrone positions during collaborative transportation and simultaneous localization and mapping applications.
- KSP Keywords
- Communication device, Distance error, Error Correction, Estimation method, Extended kalman fiLTEr, Global Navigation, Loosely coupled, Navigation support, Position Estimation, Position error, Relative Positioning Algorithm
This work is distributed under the term of Korea Open Government License (KOGL)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
