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Open AccessArticle

Real-Time UAV Autonomous Localization Based on Smartphone Sensors

1
Equipment management and UAV Engineering College, Air force Engineering University, Xi’an 710038, China
2
Science and Technology on Aircraft Control Laboratory, FACRI, Xi’an 710038, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4161; https://doi.org/10.3390/s18124161
Received: 2 November 2018 / Revised: 16 November 2018 / Accepted: 21 November 2018 / Published: 27 November 2018
(This article belongs to the Section Remote Sensors)
Localization in GPS-denied environments has become a bottleneck problem for small unmanned aerial vehicles (UAVs). Smartphones equipped with multi-sensors and multi-core processors provide a choice advantage for small UAVs for their high integration and light weight. However, the built-in phone sensor has low accuracy and the phone storage and computing resources are limited, which make the traditional localization methods unable to be readily converted to smartphone-based ones. The paper aims at exploring the feasibility of the phone sensors, and presenting a real-time, less memory autonomous localization method based on the phone sensors, so that the combination of “small UAV+smartphone” can operate in GPS-denied areas regardless of the overload problem. Indoor and outdoor flight experiments are carried out, respectively, based on an off-the-shelf smartphone and a XAircraft 650 quad-rotor platform. The results show that the precision performance of the phone sensors and real-time accurate localization in indoor environment is possible. View Full-Text
Keywords: smartphone sensors; UAV autonomous localization; multi-sensor fusion smartphone sensors; UAV autonomous localization; multi-sensor fusion
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MDPI and ACS Style

Zhao, B.; Chen, X.; Zhao, X.; Jiang, J.; Wei, J. Real-Time UAV Autonomous Localization Based on Smartphone Sensors. Sensors 2018, 18, 4161.

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