Literature Database Entry

eckert2009sensor


Juergen Eckert, Falko Dressler and Reinhard German, "Sensor Network Support for Real-time Indoor Localization of Four-rotor Flying Robots," Proceedings of 8. GI/ITG KuVS Fachgespräch Drahtlose Sensornetze (FGSN 2009), Hamburg, Germany, August 2009, pp. 1-4.

Abstract

We present a sensor network based indoor localization system that uses ultrasonic distance measurements for real-time localization of flying four-rotor robots. Such quadrocopters are on-board sensor controlled systems. They are very sensitive to lateral drifts, which cannot be compensated by mounted sensors. In our work, we provide a framework for time-of-flight based localization systems relying on ultrasonic sensors. It is optimized for use in sensor nodes with low computational power and limited memory. Nevertheless, it offers scalability and high accuracy even with erroneous measurements. We implemented the system in our lab using ultrasound sensor that are light enough to be carried around by the flying object. Using this real-time localization system, a position controller can be implemented to maintain a given position or course.

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Juergen Eckert
Falko Dressler
Reinhard German

BibTeX reference

@inproceedings{eckert2009sensor,
    author = {Eckert, Juergen and Dressler, Falko and German, Reinhard},
    title = {{Sensor Network Support for Real-time Indoor Localization of Four-rotor Flying Robots}},
    booktitle = {8. GI/ITG KuVS Fachgespr{\"{a}}ch Drahtlose Sensornetze (FGSN 2009)},
    pages = {1-4},
    year = {2009},
    month = {August},
    address = {Hamburg, Germany},
   }
   
   

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