In this study, an indoor sensor information fusion positioning system of the quadrotor unmanned aerial vehicle (UAV) was investigated to solve the problem of unstable indoor flight positioning.

    Design/methodology/approach

    The presented system was built on Light Detection and Ranging (LiDAR), Inertial Measurement Unit (IMU) and LiDAR-Lite devices. Based on this, one can obtain the aircraft's current attitude and the position vector relative to the target and control the attitudes and positions of the UAV to reach the specified target positions. While building a UAV positioning model relative to the target for indoor positioning scenarios under limited Global Navigation Satellite Systems (GNSS), the system detects the environment through the NVIDIA Jetson TX2 (Transmit Data) peripheral sensor, obtains the current attitude and the position vector of the UAV, packs the data in the format and delivers it to the flight controller. Then the flight controller controls the UAV by calculating the posture to reach the specified target position.

    Findings

    The authors used two systems in the experiment. The first is the proposed UAV, and the other is the Vicon system, our reference system for comparison purposes. Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.

    Originality/value

    Vicon positioning error can be considered lower than 2 mm from low to high-speed experiments. After comparison, experimental results demonstrated that the system could fully meet the requirements (less than 50 mm) in real-time positioning of the indoor quadrotor UAV flight. It verifies the accuracy and robustness of the proposed method compared with that of Vicon and achieves the aim of a stable indoor flight preliminarily.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    The usefulness of sensor fusion for unmanned aerial vehicle indoor positioning


    Additional title:

    The usefulness of sensor fusion


    Contributors:
    Guo, Hang (author) / Chen, Xin (author) / Yu, Min (author) / Uradziński, Marcin (author) / Cheng, Liang (author)


    Publication date :

    2024-01-24


    Size :

    18 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Inspection unmanned aerial vehicle with indoor positioning structure

    FENG LANXIN / SUN QINGSEN / LIU JIAGUO et al. | European Patent Office | 2022

    Free access

    Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method

    BAI FAN / ZHU TIANCHENG / ZHANG ZHIXIONG et al. | European Patent Office | 2020

    Free access


    Indoor unmanned aerial vehicle positioning method based on weighted least square method, medium and unmanned aerial vehicle

    GU XIAOBO / LUO DONGXIANG / DENG RUITIAN et al. | European Patent Office | 2023

    Free access

    Unmanned aerial vehicle indoor mapping and positioning method for ship detection

    SHENG ZHICHAO / CHEN BINBIN / YU HONGWEN et al. | European Patent Office | 2023

    Free access