论文标题
IDROP：具有优化信标的无人机室内导航的强大本地化
iDROP: Robust Localization for Indoor Navigation of Drones with Optimized Beacon Placement
论文作者
论文摘要
许多应用程序中的无人机需要能够完全或部分自主飞行以完成任务的能力。为了允许这些完全/部分自主的航班，首先，无人机需要能够不断定位。然后，将生成导航命令信号并将其传递到无人机的控制器单元。在本文中，我们建议针对称为IDROP的无人机（用于具有优化信标放置的无人机室内导航的可靠定位），该方案是专门为GPS贬低的环境（例如室内空间）设计的。 IDROP代替GPS信号，而是依靠说话者生成的超声声音信号来使无人机估算其位置。通常，本地化误差是由于两个因素引起的：范围误差和由发射机和接收器之间的相对几何形状引起的误差。 IDROP减轻了这两种类型的错误，并为无人机提供了高精度的三维定位方案。 IDROP采用了可抵抗多路褪色的波形。此外，通过将信标放置在最佳位置，它减少了由发射机和接收器之间的相对几何形状引起的定位误差。
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the navigation command signal would be generated and passed on to the controller unit of the drone. In this paper, we propose a localization scheme for drones called iDROP (Robust Localization for Indoor Navigation of Drones with Optimized Beacon Placement) that is specifically devised for GPS-denied environments (e.g., indoor spaces). Instead of GPS signals, iDROP relies on speaker-generated ultrasonic acoustic signals to enable a drone to estimate its location. In general, localization error is due to two factors: the ranging error and the error induced by relative geometry between the transmitters and the receiver. iDROP mitigates these two types of errors and provides a high-precision three-dimensional localization scheme for drones. iDROP employs a waveform that is robust against multi-path fading. Moreover, by placing beacons in optimal locations, it reduces the localization error induced by the relative geometry between the transmitters and the receiver.
