ALOS: Acoustic Localization System Applied to Indoor Navigation of UAVs

摘要

This paper presents a navigation system architecture for localization of multiple UAVs in indoor environments. The system is composed of: 1) an Acoustic Localization System (ALOS); 2) an inertial measurement unit (IMU); and 3) an Extended Kalman Filter as sensor fusing technique. ALOS is designed to compute the position of the vehicles, using ultrasonic sensors to measure the distances between emitter modules fixed on the environment and receiver modules, mounted on quadrotors. The position calculated by ALOS is integrated with data from accelerometers, gyroscopes, and magnetometers, using a Kalman Filter. The filter outputs an estimation for position and orientation of the vehicle, at a higher frequency than the ALOS operation. We present a physical experiment and a simulation to evaluate the architecture. The first experiment showed that ALOS is capable of achieving a centimeter level accuracy at 1 Hz rate. In simulation, two quadrotors performed position control using the complete proposed system for localization.