A 3D Ad Hoc Localization System Using Aerial Sensor Nodes

Author

Euiho Kim ; Dongkyu Choi

Author_Institution

Dept. of Aerosp. Eng., Univ. of Kansas, Lawerence, KS, USA

Volume

15

Issue

7

fYear

2015

fDate

7/1/2015 12:00:00 AM

Firstpage

3716

Lastpage

3723

Abstract

An ad hoc localization system (AHLoS) is necessary at a time or place where global satellite navigation systems are not available and a permanent infrastructure is not needed. Previous work on such systems has typically focused on 2D horizontal navigation, but new applications such as those for unmanned aerial systems (UASs) require a 3D navigation capability. In this paper, we present an AHLoS utilizing aerial nodes in the form of quadrotors or similar platforms in addition to fixed, ground-based nodes to provide a precise 3D positioning capability. The nodes are equipped with ultrawideband devices to be used as ranging sources. Our mathematical analysis and simulated results suggest that the 3D AHLoS is capable of providing high positioning accuracy, most notably, the vertical accuracy that is better than a couple of decimeters for 95% of the time, making it ideal for various UAS applications.

Keywords

Global Positioning System; ad hoc networks; autonomous aerial vehicles; sensor placement; ultra wideband communication; 3D AHLoS; 3D ad hoc localization system; 3D positioning capability; UAS applications; aerial sensor node; ground-based nodes; mathematical analysis; quadrotors; ranging sources; ultrawideband device; unmanned aerial system; Accuracy; Distance measurement; Geometry; Global Positioning System; Sensor systems; Three-dimensional displays; 3D positioning; Ad Hoc Localization; Ad hoc localization; Global Positioning System; TDOA; TOA; global positioning system;

fLanguage

English

Journal_Title

Sensors Journal, IEEE

Publisher

ieee

ISSN

1530-437X

Type

jour

DOI

10.1109/JSEN.2015.2420598

Filename

7080840