3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras
AbstractThis 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. View Full-Text
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Paredes, J.A.; Álvarez, F.J.; Aguilera, T.; Villadangos, J.M. 3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras. Sensors 2018, 18, 89.
Paredes JA, Álvarez FJ, Aguilera T, Villadangos JM. 3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras. Sensors. 2018; 18(1):89.Chicago/Turabian Style
Paredes, José A.; Álvarez, Fernando J.; Aguilera, Teodoro; Villadangos, José M. 2018. "3D Indoor Positioning of UAVs with Spread Spectrum Ultrasound and Time-of-Flight Cameras." Sensors 18, no. 1: 89.