Controlling an autonomous vehicle with UWB indoor localization system
Background: Autonomous flying in complex and GPS-denied environments gives rise to challenging engineering problems that require an integrated approach to perception, estimation, planning, control, and high level situational awareness. In these environments the advent of UWB localization systems makes possible the controlling an UAV based on real time coordinates, and helps to overcome a number of these problems.
Unmanned aerial vehicles (UAVs) are quickly emerging as a viable, low-cost technology for use in various indoor applications (see Table 1). These services and applications often demand precise UAV autonomy that requires highly refined control dynamics and strategic mission planning, both of which are contingent upon accurate determination and localization of the deployed UAV.
The aim of this thesis is to design and construct a functional system that allows to control and estimate the attitude and position of the UAV (Unmanned Aerial Vehicle) using inertial sensors and UWB sensors. The UAV location is specifically for indoor applications, and the target is to provide a suitable control mechanism using radio frequency signals based on UWB technology.
By means of the Kalman integration of all the measurements of the sensors, the author intends to obtain an accurate estimate of the attitude and position of the UAV. There are two types of devices, inertial sensors (accelerometer and gyroscope) that give very precise information in the short term, but after a long period of measurement, tend to be unreliable and devices that give absolute information independent of time, Such as the UWB and the magnetometer. Thus, it is expected that the combination of these two sources of information, even if redundant, will improve the accuracy that each of them has separately.