Detalle Publicación


UWB and IMU-based UAV's assistance system for autonomous landing on a platform

Autores: Ochoa-de-Eribe-Landaberea, A. (Autor de correspondencia); Zamora Cadenas, Leticia; Peñagaricano-Muñoa, O.; Vélez Isasmendi, Igone
Título de la revista: SENSORS
ISSN: 1424-8220
Volumen: 22
Número: 6
Páginas: 2347
Fecha de publicación: 2022
This work presents a novel landing assistance system (LAS) capable of locating a drone for a safe landing after its inspection mission. The location of the drone is achieved by a fusion of ultra-wideband (UWB), inertial measurement unit (IMU) and magnetometer data. Unlike other typical landing assistance systems, the UWB fixed sensors are placed around a 2 x 2 m landing platform and two tags are attached to the drone. Since this type of set-up is suboptimal for UWB location systems, a new positioning algorithm is proposed for a correct performance. First, an extended Kalman filter (EKF) algorithm is used to calculate the position of each tag, and then both positions are combined for a more accurate and robust localisation. As a result, the obtained positioning errors can be reduced by 50% compared to a typical UWB-based landing assistance system. Moreover, due to the small demand of space, the proposed landing assistance system can be used almost anywhere and is deployed easily.