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Open AccessArticle

Real-Time UAV Autonomous Localization Based on Smartphone Sensors

Equipment management and UAV Engineering College, Air force Engineering University, Xi’an 710038, China
Science and Technology on Aircraft Control Laboratory, FACRI, Xi’an 710038, China
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4161;
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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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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