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- Title
Indoor Localization of a Quadrotor Based on WSN: A Real-Time Application.
- Authors
Rullan-Lara, Jose L.; Sanahuja, Guillaume; Lozano, Rogelio; Salazar, Sergio; Garcia-Hernandez, Ramon; Ruz-Hernandez, Jose A.
- Abstract
A real-time localization algorithm is presented in this paper. The algorithm presented here uses an extended Kalman filter and is based on Time Difference Of Arrivals (TDOA) measurements of radio signal. The position and velocity of an Unmanned Aerial Vehicle (UAV) are successfully estimated in closed-loop in realtime, both in hover and path following flights. Relatively small position errors obtained from the experiments prove the good performance of the proposed algorithm.
- Subjects
WIRELESS sensor networks; QUADROTOR helicopters; KALMAN filtering; DRONE aircraft; PARAMETER estimation; SIGNAL processing; CLOSED loop systems
- Publication
International Journal of Advanced Robotic Systems, 2013, Vol 10, Issue 1, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/53748