Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage
A practical localization system is proposed for an unmanned aerial vehicle (UAV) performing its inspection mission under the global positioning system (GPS) signal blockage. The sensor hardware consists of a single transmitter and a cruciform receiver array, which produces the range difference (RD)...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10106271/ |
| _version_ | 1797835824732045312 |
|---|---|
| author | Ui-Suk Suh Geunhaeng Lee Jieun Han Tae Wook Kim Won-Sang Ra |
| author_facet | Ui-Suk Suh Geunhaeng Lee Jieun Han Tae Wook Kim Won-Sang Ra |
| author_sort | Ui-Suk Suh |
| collection | DOAJ |
| description | A practical localization system is proposed for an unmanned aerial vehicle (UAV) performing its inspection mission under the global positioning system (GPS) signal blockage. The sensor hardware consists of a single transmitter and a cruciform receiver array, which produces the range difference (RD) information for UAV positioning. Our sensor is based on the impulse-radio ultra wide-band (IR-UWB) technology; hence it is robust to RF interference due to exogeneous electromagnetic fields from electric facilities. With this sensor configuration, UAV localization problem is formulated as state estimation for an uncertain linear measurement model, which can be solved by using the robust weighted least squares (RWLS) estimator. To cope with the performance degradation of the RWLS estimator due to the imperfect prior knowledge of the measurement noise statistics, a geometric constraint expressed by the UAV state variables is exploited to compensate the localization errors. Through experimental results, it is verified that the proposed solution provides satisfactory UAV positioning performance and secures the reliability of the localization system in practice. |
| first_indexed | 2024-04-09T14:58:43Z |
| format | Article |
| id | doaj.art-7ffd0d74402d40b5ae2a7fb1bb4530e5 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T14:58:43Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-7ffd0d74402d40b5ae2a7fb1bb4530e52023-05-01T23:00:52ZengIEEEIEEE Access2169-35362023-01-0111395973960810.1109/ACCESS.2023.326928510106271Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS OutageUi-Suk Suh0Geunhaeng Lee1https://orcid.org/0000-0001-7309-5133Jieun Han2Tae Wook Kim3https://orcid.org/0000-0002-9383-1860Won-Sang Ra4https://orcid.org/0000-0002-4396-7030Department of Mechanical and Control Engineering, Handong Global University, Pohang, South KoreaDepartment of Electronic Engineering, Andong National University, Andong, South KoreaDepartment of Mechanical and Control Engineering, Handong Global University, Pohang, South KoreaDepartment of Electrical and Electronic Engineering, Yonsei University, Seoul, South KoreaDepartment of Mechanical and Control Engineering, Handong Global University, Pohang, South KoreaA practical localization system is proposed for an unmanned aerial vehicle (UAV) performing its inspection mission under the global positioning system (GPS) signal blockage. The sensor hardware consists of a single transmitter and a cruciform receiver array, which produces the range difference (RD) information for UAV positioning. Our sensor is based on the impulse-radio ultra wide-band (IR-UWB) technology; hence it is robust to RF interference due to exogeneous electromagnetic fields from electric facilities. With this sensor configuration, UAV localization problem is formulated as state estimation for an uncertain linear measurement model, which can be solved by using the robust weighted least squares (RWLS) estimator. To cope with the performance degradation of the RWLS estimator due to the imperfect prior knowledge of the measurement noise statistics, a geometric constraint expressed by the UAV state variables is exploited to compensate the localization errors. Through experimental results, it is verified that the proposed solution provides satisfactory UAV positioning performance and secures the reliability of the localization system in practice.https://ieeexplore.ieee.org/document/10106271/Substation inspectionUAV positioning systemIR-UWB transceiversconstrained estimation |
| spellingShingle | Ui-Suk Suh Geunhaeng Lee Jieun Han Tae Wook Kim Won-Sang Ra Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage IEEE Access Substation inspection UAV positioning system IR-UWB transceivers constrained estimation |
| title | Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage |
| title_full | Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage |
| title_fullStr | Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage |
| title_full_unstemmed | Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage |
| title_short | Passive IR-UWB Localization System for UAV-Based Electric Facility Inspection During GPS Outage |
| title_sort | passive ir uwb localization system for uav based electric facility inspection during gps outage |
| topic | Substation inspection UAV positioning system IR-UWB transceivers constrained estimation |
| url | https://ieeexplore.ieee.org/document/10106271/ |
| work_keys_str_mv | AT uisuksuh passiveiruwblocalizationsystemforuavbasedelectricfacilityinspectionduringgpsoutage AT geunhaenglee passiveiruwblocalizationsystemforuavbasedelectricfacilityinspectionduringgpsoutage AT jieunhan passiveiruwblocalizationsystemforuavbasedelectricfacilityinspectionduringgpsoutage AT taewookkim passiveiruwblocalizationsystemforuavbasedelectricfacilityinspectionduringgpsoutage AT wonsangra passiveiruwblocalizationsystemforuavbasedelectricfacilityinspectionduringgpsoutage |