Title :
UAV real-time location using a Wireless Sensor Network
Author :
Rullán-Lara, J. -L ; Salazar, S. ; Lozano, R.
Author_Institution :
Centre de Recherches de Royallieu, Heudiasyc-UTC, Compiègne, France
Abstract :
A real-time localization algorithm is presented in this paper. The algorithm uses an Extended Kalman Filter and is based on time difference of arrivals (TDOA) measurements of radio signal. The position and velocity of an Unmanned Aerial Vehicle (UAV) are successfully estimated in closed-loop in realtime in both hover and path tracking flights. Relatively small position errors obtained from the experiments, proves a good performance of the proposed algorithm.
Keywords :
Kalman filters; aerospace robotics; closed loop systems; direction-of-arrival estimation; mobile robots; position control; remotely operated vehicles; velocity control; wireless sensor networks; TDOA measurement; UAV; closed-loop estimation; extended Kalman Filter; hover tracking flight; path tracking flight; position error; radio signal; real-time localization algorithm; time difference of arrival measurement; unmanned aerial vehicle; wireless sensor network; Covariance matrix; Distance measurement; Estimation; Kalman filters; Real time systems; Wireless communication; Wireless sensor networks;
Conference_Titel :
Positioning Navigation and Communication (WPNC), 2011 8th Workshop on
Conference_Location :
Dresden
Print_ISBN :
978-1-4577-0449-9
DOI :
10.1109/WPNC.2011.5961008