Unmanned Aircraft Systems (UASs) or Remotely Piloted Aircraft Systems (RPASs), commonly known as drones, constitute a research field that has been extensively explored in the last decade, in operational contexts such as search and rescue, disaster assessment, urban traffic monitoring, logistics, or in military operations like surveillance into war zone, reconnaissance, and many more. In the framework of autonomous UAV missions, precise feedback on real-time aircraft position is very important. For outdoor operations, conventional positioning methods are based on GNSS (Global Navigation Satellite System) and/or IMU (Inertial Measurement Unit) sensors. There are different technologies alternative to GNSS-based approaches for UAV positioning in indoor navigation. They are based on onboard sensor integration, e.g., camera, radar, sonar, LiDAR, Inertial Navigation System (INS), Ultra-Wide Band (UWB) devices. In this paper we propose, as a preliminary stage, a low-cost Indoor Positioning System (IPS) for UAVs, based on Bluetooth Low Energy (BLE) beacons, by exploiting the RSSI (Radio Signal Strength Indicator). BLE is a low power consumption technology aimed at transmitting small amounts of data. A mathematical model is established to analyze the relation between the RSSI and the distance from two or three Bluetooth devices, an onboard receiver (Arduino Nano 33 BLE, used as Single-Board Computer (SBC)) and transmitters positioned in the indoor operating field (BLE beacons). Position estimation is achieved by trilateration, and 1-D Kalman filtering is applied to correct data from noise, drift, and bias errors. Experimental results and system performance analysis show the feasibility of this methodology. Future developments will involve outdoor tests for a safe landing area determination system developed by the authors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Bluetooth Low Energy based Technology for Small UAS Indoor Positioning


    Beteiligte:


    Erscheinungsdatum :

    2022-06-27


    Format / Umfang :

    1462748 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Indoor parking lot positioning and navigation method based on Bluetooth

    LI GAOZHENG / ZHAO XUELONG / QI YONG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Indoor parking lot positioning method based on Bluetooth AOD and inertial navigation

    KIM YUN-IL / JIANG JIANCHUN / FENG HUIZONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    A Lateration Method based on Effective Combinatorial Beacon Selection for Bluetooth Low Energy Indoor Positioning

    Pascacio, Pavel / Torres-Sospedra, Joaquín / Casteleyn, Sven | BASE | 2021

    Freier Zugriff

    I/Q Density-based Angle of Arrival Estimation for Bluetooth Indoor Positioning Systems

    Yen, Hung-Yi / Tsai, Zhong-Ting / Chen, Yuan-Ching et al. | IEEE | 2021


    Enhancing Indoor Navigation: Bluetooth Beacon-Based Localization Systems

    Dhanalakshmi, S.Bala / Joseph, Cynthia / Rajeswari, A. et al. | IEEE | 2023