区别定位与蓝牙低能耗 (BLE) 信标用于UAS室内操作:分析和结果
Salvatore Ponte1, Gennaro Ariante2, Alberto Greco2
1Department of Engineering, University of Campania "L. Vanvitelli", 81031 Aversa, Italy.
Sensors (Basel, Switzerland)
|November 27, 2024
概括
本研究介绍了一种低成本的室内定位系统,用于使用蓝牙低能 (BLE) 信号的无人飞机系统 (UAS). 一种差距校正技术显著提高了在GNSS拒绝环境中的定位准确性.
科学领域:
- 机器人和自动化 机器人和自动化
- 导航和控制系统 导航和控制系统
- 无线通信技术无线通信技术
背景情况:
- 无人驾驶飞机系统 (UAS) 的室内定位具有挑战性,特别是在全球导航卫星系统 (GNSS) 拒绝或动态环境中,传统传感器可能会失败.
- 准确的实时定位对于自主无人机系统任务至关重要,需要GNSS以外的替代导航解决方案.
- 来自蓝牙低能耗 (BLE) 信标的接收信号强度指示器 (RSSI) 为室内定位提供了低成本的方法,但容易受到信号退化的影响.
研究的目的:
- 建议和评估一个低成本的室内定位系统 (IPS) 用于使用BLE信标的UAS.
- 通过实施差距距校正 (DDC) 技术来提高基于 RSSI 的定位的准确性.
- 展示DDC方法的可行性和性能,以提高UAS在具有挑战性的室内环境中的定位精度.
主要方法:
- 开发了一个数学模型,将RSSI测量从Eddystone BLE信标与距离联系起来.
- 实施了差距距调整 (DDC) 技术,类似于差距GNSS (DGNSS),使用UAS上的固定参考站和移动漫游器.
- 用于初始位置估计的三边化和扩展的卡尔曼波器 (EKF) 来处理非线性信标信号,减轻噪声,漂移和偏差.
主要成果:
- 实验结果验证了使用BLE信标用于室内UAS定位的可行性.
- 与标准的基于RSSI的方法相比,DDC技术证明了位置不确定性的显著降低.
- 该系统包括Raspberry Pi参考站和无人机上的Arduino Nano漫游器,实现了改进的本地化准确性.
结论:
- 基于BLE信标和DDC的低成本IPS是室内无人机导航的可行解决方案.
- 不同距离校正有效地解决RSSI测量不准确性由多路径,反射和色引起.
- 这种方法提供了一种实际的方法,可以提高无人机系统定位在GNSS被拒绝的场景中的可靠性和精度.
更多相关视频
16:01An Experimental Protocol for Assessing the Performance of New Ultrasound Probes Based on CMUT Technology in Application to Brain Imaging
Published on: September 24, 2017
10.4K
06:43Effective Analysis of Human Exposure Conditions with Body-worn Dosimeters in the 2.4 GHz Band
Published on: May 2, 2018
7.0K
相关概念视频
01:26Errors in Global Positioning System
36
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
36
01:28Field Application of Global Positioning System
34
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
34
01:30Introduction to Global Positioning System
46
The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
46
01:30Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device
22
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
22
01:30Types of Global Positioning System Surveys
49
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
49
01:30Electronic Distance Measuring Instruments
27
Electronic Distance Measuring Instruments (EDMs) are essential tools in modern surveying, offering precise distance measurements by emitting electromagnetic signals and calculating the time required for these signals to travel to a target and return. Two primary types of signals are used in EDMs — light waves and microwaves — each suited to specific environmental and distance requirements. Light-wave-based EDMs utilize either infrared or laser light, providing high accuracy over short...
27