| Title |
A Conceptual Design of Aided Localization Sensor for Inspection UAV Under Non-GPS Environment |
| Authors |
서의석(Ui-Suk Suh) ; 이찬석(Chan-Seok Lee) ; 김태완(Tae-Wan Kim) ; 나원상(Won-Sang Ra) |
| DOI |
https://doi.org/10.5370/KIEE.2021.70.3.526 |
| Keywords |
Geometric constraint; relative location estimator; UAV inspection applications |
| Abstract |
This paper suggests a novel localization sensor for substation inspection UAVs carrying out their missions under a GPS-denied environment. The proposed sensor consists of a transmitter located at the known position and a cruciform receiver array which enables the UAV to measure the time difference of arrivals. For such case, the UAV localization problem can be cast into a passive nonlinear state estimation using the range difference (RD) information expressed by a nonlinear function of the UAV position of interest. To avoid the performance degradation due to the inherent nonlinearity of the problem, we reformulate the localization problem in the setting of a linear robust state estimation. Ensuring the robustness against imperfect RD measurement noise statistics which is cruicial for determining filter design parameters, a modified robust weighted least squares estimator is designed by considering the geometric constraint between the state variables as an additional information. Experimental results show that the proposed design concept of a UAV localization sensor is applicable in practice. |