Real-time localization of an UAV using Kalman filter and a Wireless Sensor Network

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 65, Issue 1-4, 2012, Pages 283-293

  Rullán Lara, José Luis ^a   Salazar, Sergio ^b   Lozano, Rogelio ^a,b  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

^b DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

Kalman filter; Localization; Time difference of arrival; UAV; WSN

Indexed keywords

CLOSED-LOOP; LOCALIZATION; PATH FOLLOWING; POSITION ERRORS; RADIO SIGNALS; REAL-TIME LOCALIZATION; TIME DIFFERENCE OF ARRIVAL; WSN;

ALGORITHMS; FLIGHT PATHS; KALMAN FILTERS; UNMANNED AERIAL VEHICLES (UAV); UNMANNED VEHICLES; WIRELESS SENSOR NETWORKS;

REAL TIME SYSTEMS;

EID: 84855442850     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-011-9599-8     Document Type: Article

References (32)

1. J Yim C Park J Joo S Jeong 2008 Extended Kalman Filter to wireless LAN based indoor positioning Decis. Support Syst. (Elsevier) 45 960 971 10.1016/j.dss.2008.03.004
2. J Yim S Jeong K Gwon J Joo 2010 Improvement of Kalman filters for WLAN based indoor tracking Expert Syst. Appl. (Elsevier) 37 1 426 433 10.1016/j.eswa.2009.05.047
3. Röhrig, C.; Spieker, S.: Tracking of transport vehicles for warehouse management using a wireless sensor network. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 22-26 Sept 2008
4. Röhrig, C.; Muller, M.: Localization of sensor nodes in a wireless sensor network using the nanoLOC TRX transceiver. In: IEEE 69th Vehicular Technology Conference Spring, Barcelona, Spain, 26-29 April 2009
5. Soriano, P.; Caballero, F.; Ollero, A.: RF-based particle filter localization for wildlife tracking by using an UAV. On: 40th International Symposium of Robotics, Barcelona, España (2009)
6. FA Togersen F Skjoth L Munksgaard S Hojsgaard 2010 Wireless indoor tracking network based on Kalman filters with an applications to monitoring dairy cows Comput. Electron. Agric. (Elsevier) 72 119 126 10.1016/j.compag.2010. 03.006
7. J Wendel O Meister C Schlaile GF Trommer 2006 An integrated GPS/MEMS-IMU navigation system for an autonomous helicopter Aerosp. Sci. Technol. 10 527 533 10.1016/j.ast.2006.04.002 (Pubitemid 44332296)
8. Kim, J.; Sukkarieh, S.; Wishart, S.: Real-time navigation, guidance and control of an UAV using low-cost sensors. In: International Conference of Field and Service Robotics (FSR'03), Yamanashi, Japan, pp. 95-100 (2003)
9. P-J Bristeau E Dorveaux D Vissière N Petit 2010 Hardware and software architecture for state estimation on an experimental low-cost small-scaled helicopter Control Eng. Pract. 18 733 746 10.1016/j.conengprac. 2010.02.014
10. Nanotron Technologies GmbH: Real Time Localization Systems (RTLS). White paper (2006)
11. De Nardis, L.; Di Benedetto, M.-G.: Overview of the IEEE 802.15.4/4a standards for low data rate wireless personal data networks. In: 4th Workshop on Positioning, Navigation and Communication, Hannover, Germany (2007)
12. Ahn, H.-S.; Hur, H.; Choi, W.-S.: One-way ranging technique for CSS-based indoor localization. In: IEEE International Conference on Industrial Informatics, Daejeon, Korea (2008)
13. DJ Torrieri 1984 Statistical theory of passive location systems IEEE Trans. Aerosp. Electron. Syst. AES-20 2 183 198 10.1109/TAES.1984.310439
14. G Mao B Fidan BDO Anderson 2007 Wireless sensor network localization techniques Comput. Networks 51 10 2529 2553 1120.68021 10.1016/j.comnet.2006.11. 018 (Pubitemid 46695833)
15. Seco, F.; Jiménez, A.; Prieto, C.; Roa, J.; Koutsou, K.: A survey of mathematical methods for indoor localization. In: IEEE 6th International Symposium on Intelligent Signal Processing, Budapest, Hungry, 26-28 August 2009
16. K Dogancaya A Hashemi-Sakhtsari 2005 Target tracking by time difference of arrival using recursive smoothing Signal Process. 85 667 679 10.1016/j.sigpro.2004.11.007 (Pubitemid 40259508)
17. Y Huang J Benesty GW Elko RM Mersereati 2001 Real-time passive source localization: a practical linear-correction least-squares approach IEEE Trans. Speech Audio Process. 9 8 943 956 10.1109/89.966097 (Pubitemid 33137946)
18. KW Cheung HC So W-K Ma YT Chan 2006 A constrained least squares approach to mobile positioning: algorithms and optimality EURASIP J. Appl. Signal Process. 2006 1 23 1123.94317 Article ID 20858
19. JO Smith JS Abel 1987 Closed-form least-squares location estimation from range-difference measurements IEEE Trans. Acoust. Speech Signal Process. ASSP-35 1661 1669 10.1109/TASSP.1987.1165089
20. YT Chan KC HO 1994 A simple and efficient estimator for hyperbolic location IEEE Trans. Signal Process. 42 8 1905 1915 2190384 10.1109/78.301830
21. RE Kalman 1960 A new approach to linear filtering prediction problems ASME J. Basic Eng. 82 34 45
22. VM Becerra PD Roberts GW Griffiths 2001 Appliyingthe extended Kalman filter to systems described by nonlinear differential-algebraic equations Control Eng. Pract. 9 3 267 281 10.1016/S0967-0661(00)00110-6 (Pubitemid 32258775)
23. Julier, S.J.; Ulhmann, J.K.: A new extension of the Kalman filter to nonlinear systems. In: Proceedings of the American Control Conference, pp. 1628-1630 (1995)
24. H Cho CW Lee SJ Ban SW Kim 2010 An enhanced positioning scheme for chirp spread spectrum ranging Expert Syst. Appl. 37 8 5728 5735 10.1016/j.eswa.2010. 02.037
25. Röhrig, C.; Spieker, S.: Localization of pallets in warehouses using wireless sensor networks. In: 16th Mediterranean Conference on Control and Automation, pp. 1833-1838 (2008)
26. D Bechler M Grimm K Kroschel 2003 Speaker tracking with a microphone array using Kalman filtering Adv. Radio Sci. 1 113 117 10.5194/ars-1-113-2003
27. Z Liang X Ma X Dai 2008 Robust tracking of moving sound source using multiple model Kalman filter Appl. Acoust. 69 1350 1355 10.1016/j.apacoust.2007. 11.010
28. Nanotron Technologies GmbH: nanoLOC Development Kit User Guide. Technical Report NA-06-0230-0402-2.0 (2008)
29. Bar-Shalom, Y.; Li, X.-R.; Kirubarajan, T.: Estimation with Applications to Tracking and Navigation. Wiley, New York (2001)
30. Grewal, M.S.; Andrews, A.P.: Kalman Filtering: Theory and Practice using MATLAB. Wiley-Interscience Publication, New York (2001)
31. G Sanahuja P Castillo A Sanchez 2010 Stabilization of n integrators in cascade with bounded input with experimental application to a VTOL laboratory system Int. J. Robust Nonlinear Control 20 10 1129 1139 10.1002/rnc.1494 1200.93116 2675086
32. Nanotron Technologies GmbH: nanoLOC TRX Transceiver (NA5TR1) User Guide. Datasheet NA-06-0230-0385-2.00 (2008)