ETRI Journal

  • 제45권5호
  • /
  • Pages.758-767
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  • 2023
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  • 1225-6463(pISSN)
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  • 2233-7326(eISSN)
한국전자통신연구원 (Electronics and Telecommunications Research Institute)
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Ultrawideband coupled relative positioning algorithm applicable to flight controller for multidrone collaboration

  • Jeonggi Yang (Mobility Infra Research Section, Electronics and Telecommunications Research Institute) ;
  • Soojeon Lee (Mobility Infra Research Section, Electronics and Telecommunications Research Institute)
  • 투고 : 2023.03.28
  • 심사 : 2023.08.09
  • 발행 : 2023.10.20
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초록

In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter-based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Via simulations, we confirm the feasibility of the algorithm and verify its distance error correction performance according to the amount of communications. Real-world tests confirm the algorithm's effectiveness on FCs and the potential for multidrone collaboration in real environments. This method can be used to correct relative multidrone positions during collaborative transportation and simultaneous localization and mapping applications.

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과제정보

This study was supported by the Electronics and Telecommunications Research Institute (ETRI) grant funded by the Korean Government (23ZS1200, Fundamental Technology Research for Human-Centric Autonomous Intelligent Systems).

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