A 3D Ad Hoc Localization System Using Aerial Sensor Nodes

An ad hoc localization system (AHLoS) is necessary at a time or place where global satellite navigation systems are not available and a permanent infrastructure is not needed. Previous work on such systems has typically focused on 2D horizontal navigation, but new applications such as those for unma...

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Bibliographic Details
Published inIEEE sensors journal Vol. 15; no. 7; pp. 3716 - 3723
Main Authors Kim, Euiho, Choi, Dongkyu
Format Journal Article
LanguageEnglish
Published IEEE 01.07.2015
Subjects
3D positioning
Accuracy
Ad Hoc Localization
Distance measurement
Geometry
Global Positioning System
Sensor systems
TDOA
Three-dimensional displays
TOA
3D positioning
Ad hoc localization
TDOA
global positioning system
TOA
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Summary:An ad hoc localization system (AHLoS) is necessary at a time or place where global satellite navigation systems are not available and a permanent infrastructure is not needed. Previous work on such systems has typically focused on 2D horizontal navigation, but new applications such as those for unmanned aerial systems (UASs) require a 3D navigation capability. In this paper, we present an AHLoS utilizing aerial nodes in the form of quadrotors or similar platforms in addition to fixed, ground-based nodes to provide a precise 3D positioning capability. The nodes are equipped with ultrawideband devices to be used as ranging sources. Our mathematical analysis and simulated results suggest that the 3D AHLoS is capable of providing high positioning accuracy, most notably, the vertical accuracy that is better than a couple of decimeters for 95% of the time, making it ideal for various UAS applications.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2015.2420598