Abstract:
Infrastructure monitoring, precision agriculture, and search and rescue require ground device (GD) localization. Due to their flexibility, drones or UAVs are promising technologies. However, drone distance measurements, an essential part of localization, have several errors that reduce accuracy.
This project analyzes the effects of various measurement errors on the ground distance between the UAV and GDs. We analyze three range-based and three range-free localization algorithms, identify their errors, and derive the error bounds from aggregating multiple inaccurate measurements.
We improve accuracy by extending range-free algorithms. After collecting data from a testbed of ten GDs and one drone with ultra wide band (UWB) antennas in an open field, we validate our theoretical analysis and compare the algorithms’ localization errors. Our analysis matches experimental localization errors well. Extended range-free algorithms are also more accurate than their predecessors.
Note: Please discuss with our team before submitting this abstract to the college. This Abstract or Synopsis varies based on student project requirements.
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