Experimental evaluation of ultra-wide band (UWB) technology for UAV positioning in unfavorable conditions

Μπουλούκου, Μυρτώ-Παναγιώτα; Bouloukou, Myrto-Panagiota

dc.contributor.author	Μπουλούκου, Μυρτώ-Παναγιώτα	el
dc.contributor.author	Bouloukou, Myrto-Panagiota	en
dc.date.accessioned	2021-03-31T07:49:50Z
dc.date.available	2021-03-31T07:49:50Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/53225
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.20923
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/3.0/gr/	*
dc.subject	Δορυφορική γεωδαισία	el
dc.subject	Μη επανδρωμένο εναέριο όχημα	el
dc.subject	UWB τεχνολογία	el
dc.subject	Δορυφορικά συστήματα εντοπισμού	el
dc.subject	Τροχιά εντοπισμού	el
dc.subject	UWB technology	en
dc.subject	GNSS	en
dc.subject	GNSS-denied environment	en
dc.subject	Unmanned aerial vehicle	en
dc.subject	Drone trajectory	en
dc.title	Experimental evaluation of ultra-wide band (UWB) technology for UAV positioning in unfavorable conditions	en
dc.contributor.department	Τομέας Τοπογραφίας	el
heal.type	bachelorThesis
heal.classification	Δορυφορική Γεωδαισία	el
heal.classification	Αισθητήρες	el
heal.classification	Satellite Geodesy	en
heal.classification	Sensors	en
heal.language	en
heal.access	campus
heal.recordProvider	ntua	el
heal.publicationDate	2021-03-09
heal.abstract	The navigation of Unmanned Aerial Vehicles in harsh, GNSS-denied environments is a very challenging and demanding task. Particularly, this is evident in urban and deep urban environments or along road corridors with steep gradients and areas of dense vegetation. This thesis deals with the UAV positioning problem in difficult environments. It examines the use of Ultra-Wide Band (UWB) as an alternative positioning system. The aim of this diploma thesis is the evaluation of the Ultra-Wide Band positioning system for the localization of the UAV platform. For the presented thesis, field measurements, that consisted of a low-cost drone flight, were executed at Agripolis Campus at University of Padova in Italy. The UAV, which was used, is a DJI Phantom 4 Pro with a UWB Tag and a GNSS receiver attached to it in addition to the already existent equipment. The valuation of UWB system is based on outdoor field work. For the UWB ranges, also 8 static anchors were placed on the ground. The variables of the field work are the UWB ranges and the GNSS measurements. Particularly, the GNSS post-processed exploiting the corrections provided by a permanent station very close to the building, approximately 100m and the UWB ranges were exploited by Extended Kalman Filter to receive a smooth outcome. Moreover, the data was analyzed in MATLAB environment and the main application of the algorithm was focused on the comparison of the two trajectories with the computation of root-mean square errors, 3D errors, altitude errors and a DOP-coefficient based on the trilateration UWB values from the anchors. The final step is to re-do the comparisons with a new trajectory by simply iteratively solving the trilateration problem, using the position computed in the previous time instant as initialization for solving the trilateration at the new time instant. To conclude, the analysis of the measurements data showed fewer promising results for the most part of the UAV localization. A very significant outcome is that the GNSS measurements are more solid than the UWB ones. The results of the UWB on the beginning of the flight and on the highest altitude were less accurate than the GNSS ones, probably due to the geometry configuration of the anchors.	en
heal.advisorName	Γκίκας, Βασίλειος	el
heal.committeeMemberName	Vettore, Antonio	en
heal.committeeMemberName	Masiero, Andrea	en
heal.committeeMemberName	Γκίκας, Βασίλειος	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Αγρονόμων και Τοπογράφων Μηχανικών. Τομέας Τοπογραφίας	el
heal.academicPublisherID	ntua
heal.numberOfPages	93 p.	en
heal.fullTextAvailability	false