Indoor flying robot control and 3D indoor localization system

摘要

In this paper, a 3D localization method for an indoor flying robot using an Ultrasonic Positioning System (UPS) is described. The high performance localization systems for an indoor flying robot have high-end prices. Therefore, the main objective of this study was to develop a low cost and high performance indoor localization system. In the localization method, the pseudoranges are measured from TDOA (Time Difference of Arrival) which is the difference between RF synchronization and ultrasonic signal arrival times. The algorithm for estimating the robot's position was used to a multi-dimensional newton-raphson method and error-reduction algorithm called a sigma cutting method. The flying robot, a co-axial type of rotary-wing aircrafts, was controlled by PID theory and reduced noise with a butterworth filter. The effectiveness of the described method was evaluated through the hovering control with the flying robot, and the performance of the UPS had been also verified with the experimental results.