TY - GEN
T1 - A Relative Navigation Method Based on Wireless Ranging for UAV in GPS Denied Environment
AU - Li, Ming
AU - Weng, Shudi
AU - Song, Gengyue
AU - Wang, Nan
AU - Zhang, Yanshun
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - Satellite navigation system can produce large errors or even cannot locate the target when its signals get obscured. To meet the local positioning demands of unmanned aerial vehicle(UAV) in GPS denied environment, we proposed a relative navigation method using wireless ranging information to construct virtual base stations. This method needs only one actual base station prepared on the ground in advance, and then construct virtual reference base station array by using ranging information of the UAV carried mobile node and the UAV displacement vector, finally, realize wireless positioning by listing virtual location equations and using the least square method to solve three-dimensional location coordinates of UAV. In this paper, the proposed method is validated and the accuracy is evaluated by testing EuRoC data set. The experiment results show that the method can realize precise positioning of UAV.
AB - Satellite navigation system can produce large errors or even cannot locate the target when its signals get obscured. To meet the local positioning demands of unmanned aerial vehicle(UAV) in GPS denied environment, we proposed a relative navigation method using wireless ranging information to construct virtual base stations. This method needs only one actual base station prepared on the ground in advance, and then construct virtual reference base station array by using ranging information of the UAV carried mobile node and the UAV displacement vector, finally, realize wireless positioning by listing virtual location equations and using the least square method to solve three-dimensional location coordinates of UAV. In this paper, the proposed method is validated and the accuracy is evaluated by testing EuRoC data set. The experiment results show that the method can realize precise positioning of UAV.
KW - relative navigation
KW - unmanned aerial vehicle
KW - wireless ranging
UR - https://www.scopus.com/pages/publications/85091917696
U2 - 10.1109/ICECCE49384.2020.9179243
DO - 10.1109/ICECCE49384.2020.9179243
M3 - 会议稿件
AN - SCOPUS:85091917696
T3 - 2nd International Conference on Electrical, Communication and Computer Engineering, ICECCE 2020
BT - 2nd International Conference on Electrical, Communication and Computer Engineering, ICECCE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Electrical, Communication and Computer Engineering, ICECCE 2020
Y2 - 12 June 2020 through 13 June 2020
ER -