Next Article in Journal
Context-Based Dynamic Meshed Backhaul Construction for 5G Heterogeneous Networks
Previous Article in Journal
Hierarchical Growing Neural Gas Network (HGNG)-Based Semicooperative Feature Classifier for IDS in Vehicular Ad Hoc Network (VANET)
Article Menu

Export Article

Open AccessArticle
J. Sens. Actuator Netw. 2018, 7(4), 42; https://doi.org/10.3390/jsan7040042

Development and Experimental Evaluation of a Low-Cost Cooperative UAV Localization Network Prototype

1
Department of Civil Engineering, Indian Institute of Technology Kanpur, Kanpur 208016, India
2
Department of Geospatial Science, RMIT University, Melbourne 3001, Australia
*
Authors to whom correspondence should be addressed.
Received: 22 August 2018 / Revised: 7 September 2018 / Accepted: 11 September 2018 / Published: 20 September 2018
(This article belongs to the Special Issue Localization in Wireless Sensor Networks)

Abstract

Precise localization is one of the key requirements in the deployment of UAVs (Unmanned Aerial Vehicles) for any application including precision mapping, surveillance, assisted navigation, search and rescue. The need for precise positioning is even more relevant with the increasing automation in UAVs and growing interest in commercial UAV applications such as transport and delivery. In the near future, the airspace is expected to be occupied with a large number of unmanned as well as manned aircraft, a majority of which are expected to be operating autonomously. This paper develops a new cooperative localization prototype that utilizes information sharing among UAVs and static anchor nodes for precise positioning of the UAVs. The UAVs are retrofitted with low-cost sensors including a camera, GPS receiver, UWB (Ultra Wide Band) radio and low-cost inertial sensors. The performance of the low-cost prototype is evaluated in real-world conditions in partially and obscured GNSS (Global Navigation Satellite Systems) environments. The performance is analyzed for both centralized and distributed cooperative network designs. It is demonstrated that the developed system is capable of achieving navigation grade (2–4 m) accuracy in partially GNSS denied environments, provided a consistent communication in the cooperative network is available. Furthermore, this paper provides experimental validation that information sharing is beneficial to improve positioning performance even in ideal GNSS environments. The experiments demonstrate that the major challenges for low-cost cooperative networks are consistent connectivity among UAV platforms and sensor synchronization. View Full-Text
Keywords: cooperative localization; unmanned aerial vehicle; ultra wide band; extended Kalman filter; centralized network; distributed network cooperative localization; unmanned aerial vehicle; ultra wide band; extended Kalman filter; centralized network; distributed network
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Goel, S.; Kealy, A.; Lohani, B. Development and Experimental Evaluation of a Low-Cost Cooperative UAV Localization Network Prototype. J. Sens. Actuator Netw. 2018, 7, 42.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
J. Sens. Actuator Netw. EISSN 2224-2708 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top