2017
DOI: 10.1109/tmc.2016.2636823
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HiQuadLoc: A RSS Fingerprinting Based Indoor Localization System for Quadrotors

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Cited by 20 publications
(7 citation statements)
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“…Decentralized information filter 3 m * 2 m Decimeter level [12] Optical flow sensor, IMU EKF 6 m * 6 m 0.3 m in mean [13] Ultraviolet LED makers Mutual relative localization 10 m distance Meter level [14] 3D lidar, UWB, IMU EKF Simulation Decimeter level [15] 2D lidar CNN 4 m * 4 m Decimeter level [16] 2D lidar, IMU SLAM 8 m * 8 m 1.0 m for 26 s, 0.5 m for 10 s [17] 2D lidar, IMU Tightly coupled SLAM 60 m corridor Meter level [18] 1D laser, IMU, barometer EKF 5 m * 9 m 0.1 m height accuracy in mean [19] Radar Radar odometry 80 m * 10 m 3.3 m in mean [20] Radar, UWB, IMU EKF 40 m * 40 m 0.8 m in RMS [21] UWB Multilateration 20 m * 30 m, 4 AP 2.0 m in mean [22] UWB TDoA 4 m * 2 m, 4 AP 0.1 m in 75 % [23] UWB, IMU Tightly coupled EKF 19 m * 13 m 0.15 m in mean [24] UWB, monocular camera SLAM 8 m * 8 m 0.23 m in 75 % [25] UWB, RGB-D camera Monte Carlo localization 15 m * 15 m 0.2 m in RMS [26] Ultrasonic Multilateration 4 m * 3 m, 6 AP 0.16 m in RMS [27] Ultrasonic CNN 10 m * 4 m Decimeter level [28] Ultrasonic, time-of-flight camera Multilateration 0.7 m * 0.7 m, 5 AP 0.17 m in median [29] WiFi Fingerprinting 36 m * 17 m, 10 APs 1.7 m in mean [30] WiFi A quasi-taut tether Angle and range-based 2.5 m * 2.5 m 0.37 m in mean * SLAM-simultaneous localization and mapping; 1D/2D/3D-one/two/three-dimensional; EKF-extended Kalman filter; PF-particle filter; CNN-convolution neural network; RGB-D-red-green-blue-depth; RMS-root mean squares; TDoA-time-difference-of-arrival; RFID-radio frequency identification; LED-light-emitting diode; RSS-received signal strength; AP-access point; WiFi-wireless fidelity; BLE-Bluetooth low energy; N/A-not provided.…”
Section: Methods Sensorsmentioning
confidence: 99%
“…Decentralized information filter 3 m * 2 m Decimeter level [12] Optical flow sensor, IMU EKF 6 m * 6 m 0.3 m in mean [13] Ultraviolet LED makers Mutual relative localization 10 m distance Meter level [14] 3D lidar, UWB, IMU EKF Simulation Decimeter level [15] 2D lidar CNN 4 m * 4 m Decimeter level [16] 2D lidar, IMU SLAM 8 m * 8 m 1.0 m for 26 s, 0.5 m for 10 s [17] 2D lidar, IMU Tightly coupled SLAM 60 m corridor Meter level [18] 1D laser, IMU, barometer EKF 5 m * 9 m 0.1 m height accuracy in mean [19] Radar Radar odometry 80 m * 10 m 3.3 m in mean [20] Radar, UWB, IMU EKF 40 m * 40 m 0.8 m in RMS [21] UWB Multilateration 20 m * 30 m, 4 AP 2.0 m in mean [22] UWB TDoA 4 m * 2 m, 4 AP 0.1 m in 75 % [23] UWB, IMU Tightly coupled EKF 19 m * 13 m 0.15 m in mean [24] UWB, monocular camera SLAM 8 m * 8 m 0.23 m in 75 % [25] UWB, RGB-D camera Monte Carlo localization 15 m * 15 m 0.2 m in RMS [26] Ultrasonic Multilateration 4 m * 3 m, 6 AP 0.16 m in RMS [27] Ultrasonic CNN 10 m * 4 m Decimeter level [28] Ultrasonic, time-of-flight camera Multilateration 0.7 m * 0.7 m, 5 AP 0.17 m in median [29] WiFi Fingerprinting 36 m * 17 m, 10 APs 1.7 m in mean [30] WiFi A quasi-taut tether Angle and range-based 2.5 m * 2.5 m 0.37 m in mean * SLAM-simultaneous localization and mapping; 1D/2D/3D-one/two/three-dimensional; EKF-extended Kalman filter; PF-particle filter; CNN-convolution neural network; RGB-D-red-green-blue-depth; RMS-root mean squares; TDoA-time-difference-of-arrival; RFID-radio frequency identification; LED-light-emitting diode; RSS-received signal strength; AP-access point; WiFi-wireless fidelity; BLE-Bluetooth low energy; N/A-not provided.…”
Section: Methods Sensorsmentioning
confidence: 99%
“…But most of the proposed approaches are focused on node detection through UAV with the existence of GPS in unknown environment, only few of research pays attention to localise UAV itself. In [95], an indoor localisation system called a High-speed Quadrotor Localisation (HiQuadLoc) system was designed, which successfully kept stability of UAV in indoor environment with RSS fingerprinting. In their system, a 4-D RSS interpolation scheme was proposed which added RSS sample space to mitigate site survey overhead for reducing the requirement of training data volume.…”
Section: Fingerprint Based Localisation Mechanismmentioning
confidence: 99%
“…The special structure of a quadrotor has a wide range of advantages in that they are easy to manoeuvre and have the abilities to hovering, vertical takeoff and landing (VTOL), and other features not found in fixed‐wing aircraft. With these advantages, many studies on the quadrotor UAV have been actively conducted and a field of researches can be classified as localisation [2], navigation [3], controller design [4–18], and others. However, the dynamics of the quadorotor UAV is not only highly non‐linear but also underactuated, which makes the controller design complex.…”
Section: Introductionmentioning
confidence: 99%