Decimeter-Accuracy Positioning for Drones Using Two-Stage Trilateration in a GPS-Denied Environment

Chen, Yu-Er; Liew, Huan-Huan; Chao, Ju-Chin; Wu, Ruey-Beei

doi:10.1109/jiot.2022.3231704

Cited by 7 publications

(2 citation statements)

References 25 publications

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“…UWB technology, with some computational simplifications, can be used to calculate the location of robots on the production hall [ 14 ]. A two-stage trilateration algorithm using UWB works well in determining the position of drones, particularly in areas where GPS signals are not received [ 15 ]. Trilateration can also be used to locate RFID receivers [ 16 ].…”

Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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One of the important issues being explored in Industry 4.0 is collaborative mobile robots. This collaboration requires precise navigation systems, especially indoor navigation systems where GNSS (Global Navigation Satellite System) cannot be used. To enable the precise localization of robots, different variations of navigation systems are being developed, mainly based on trilateration and triangulation methods. Triangulation systems are distinguished by the fact that they allow for the precise determination of an object’s orientation, which is important for mobile robots. An important feature of positioning systems is the frequency of position updates based on measurements. For most systems, it is 10–20 Hz. In our work, we propose a high-speed 50 Hz positioning system based on the triangulation method with infrared transmitters and receivers. In addition, our system is completely static, i.e., it has no moving/rotating measurement sensors, which makes it more resistant to disturbances (caused by vibrations, wear and tear of components, etc.). In this paper, we describe the principle of the system as well as its design. Finally, we present tests of the built system, which show a beacon bearing accuracy of Δφ = 0.51°, which corresponds to a positioning accuracy of ΔR = 6.55 cm, with a position update frequency of fupdate = 50 Hz.

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Section: Introductionmentioning

confidence: 99%

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Ciężkowski,

Kociszewski

2024

Sensors

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“…These beacons take both visual and non-visual forms. For example, the addition of ultra wideband (UWB) beacons were shown to reduce localization errors from 0.35 m using the original GPS to 2.02 m with beacons (Chen et al, 2023). A wide variety of RF beacons are currently used but can come with increased complexities and localization uncertainties, such as seen when using Bluetooth low energy (BLE) and WiFi signals (Chen et al, 2023).…”

Section: Introductionmentioning

confidence: 99%

Key-Region-Based UAV Visual Navigation

Karnes,

Riffel,

Yilmaz

2024

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. Visual navigation has recently seen significant developments with the rise in autonomous navigation. Keypoint-based mapping and localization has served as a reliable localization method for many applications, but the push to run more applications on less expensive hardware becomes extremely limiting. In this paper, we present a novel approach for visual geolocalization and navigation that improves landmark detection reliability while reducing reference map complexity. Similar to prior techniques, we use the process of point based matching schemes to solve for the image-to-map transform. The critical difference is that we use object detection to identify key-regions instead of keypoints. During an initial flight key-regions are mapped into an identity dictionary with their geolocations and few-shot learning encoded descriptors. Then on subsequent flights, key-regions are detected and matched using the identity dictionary for re-identification. Using the identified vehicles as key-regions, the results show that the proposed key-region based localization produces GPS like localization while maintaining a higher resilience to image noise compared to keypoint-based techniques.

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A survey and evaluation of iterative optimization algorithms for cooperative localization

Fan,

Meng,

et al. 2023

Physical Communication

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Decimeter-Accuracy Positioning for Drones Using Two-Stage Trilateration in a GPS-Denied Environment

Cited by 7 publications

References 25 publications

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Fast 50 Hz Updated Static Infrared Positioning System Based on Triangulation Method

Key-Region-Based UAV Visual Navigation

A survey and evaluation of iterative optimization algorithms for cooperative localization

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