基于扩频超声和飞行时间相机的无人机三维室内定位

3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras.

作者信息

Paredes José A, Álvarez Fernando J, Aguilera Teodoro, Villadangos José M

机构信息

Sensory System Research Group, University of Extremadura, 06006 Badajoz, Spain.

Department of Electronics, University of Alcalá, Alcalá de Henares, 28805 Madrid, Spain.

出版信息

Sensors (Basel). 2017 Dec 30;18(1):89. doi: 10.3390/s18010089.

DOI:10.3390/s18010089

PMID:29301211

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5795612/

Abstract

This work proposes the use of a hybrid acoustic and optical indoor positioning system for the accurate 3D positioning of Unmanned Aerial Vehicles (UAVs). The acoustic module of this system is based on a Time-Code Division Multiple Access (T-CDMA) scheme, where the sequential emission of five spread spectrum ultrasonic codes is performed to compute the horizontal vehicle position following a 2D multilateration procedure. The optical module is based on a Time-Of-Flight (TOF) camera that provides an initial estimation for the vehicle height. A recursive algorithm programmed on an external computer is then proposed to refine the estimated position. Experimental results show that the proposed system can increase the accuracy of a solely acoustic system by 70-80% in terms of positioning mean square error.

摘要

这项工作提出使用一种混合声学和光学的室内定位系统，用于无人机（UAV）的精确三维定位。该系统的声学模块基于时分码分多址（T-CDMA）方案，其中通过执行五个扩频超声码的顺序发射，按照二维多边测量程序来计算飞行器的水平位置。光学模块基于飞行时间（TOF）相机，它为飞行器高度提供初始估计。然后提出一种在外部计算机上编程的递归算法，以优化估计位置。实验结果表明，就定位均方误差而言，所提出的系统可使单一声学系统的精度提高70%-80%。