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Positioning System for UAV Precision Tasks Near Walls in GPS Denied and Metallic Environments

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Robot 2019: Fourth Iberian Robotics Conference (ROBOT 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1093))

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Abstract

A positioning system based on the combination of various measurements is being developed in order to allow precise UAV navigation on GPS denied environments. In the case of study, the task is developed near walls in a closed fully metallic environment with nearly homogeneous floor and walls. This led up to some interesting challenges. The first one regarding RF signal transmission on a metallic environment. Secondly, the difficulty of using SLAM or other computer vision navigation solutions due to the homogeneity of the walls and floor. Finally, a working place located near walls, where positioning systems tend to offer worst accuracy. To overcome these challenges, the proposed positioning method combines an Ultra Wide Band (UWB) based system, for global location, with unidirectional laser range finders, for very precise near-wall measurements. Moreover, RF transmission on various frequencies and results of the proposed positioning precision experiments performed are shown and results analyzed.

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Author information

Authors and Affiliations

  1. Integrated Group for Engineering Research, Universidade da Coruña, A Coruña, Spain

    Felix Orjales & Alvaro Deibe

  2. Navantia-UDC Joint Research Unit, Universidade da Coruña, A Coruña, Spain

    Javier Losada-Pita

  3. CITIC Research Center, Universidade da Coruña, A Coruña, Spain

    Alejandro Paz-Lopez

Authors
  1. Felix Orjales
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  2. Javier Losada-Pita
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  3. Alejandro Paz-Lopez
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  4. Alvaro Deibe
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Corresponding author

Correspondence to Felix Orjales .

Editor information

Editors and Affiliations

  1. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  2. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  3. Faculty of Engineering, University of Porto, Porto, Portugal

    Luís Paulo Reis

  4. UPC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  5. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

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Orjales, F., Losada-Pita, J., Paz-Lopez, A., Deibe, A. (2020). Positioning System for UAV Precision Tasks Near Walls in GPS Denied and Metallic Environments. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_26

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