Literature Database Entry

eckert2011indoor


Juergen Eckert, Reinhard German and Falko Dressler, "An Indoor Localization Framework for Four-rotor Flying Robots Using Low-power Sensor Nodes," IEEE Transactions on Instrumentation and Measurement, vol. 60 (2), pp. 336-344, February 2011.

Abstract

We study the relevance of highly precise indoor localization techniques for quadrocopters and present an ultrasonic sensor system that achieves excellent localization performance even though the system has to rely on the limited computation resources of sensor nodes used for time-of-flight based localization. Quadrocopters, i.e. flying four-rotor robots, are on-board sensor controlled systems. In comparison to classical mono rotor objects (helicopters), the quadrocopters can be piloted with a much lower effort. However, lateral drifts cannot be compensated only referring to the built-in sensors. Nonetheless, the detection of such drifts is strongly necessary for indoor operation – without any corrections the quadrocopter would quickly cause a collision. In order to compensate the dislocation, we developed an indoor localization framework for time-of-flight based localization using ultrasonic sensors. It is optimized for use in sensor nodes with low computational power and limited memory. The system is designed for high scalability and to provide high accuracy even in case of erroneous measurements. The developed hardware platform is very light-weight to be carried by mobile robots and flying quadrocopters. Based on our real-time localization system, position controller and navigation functionality can be implemented.

Quick access

Original Version DOI (at publishers web site)
Authors' Version PDF (PDF on this web site)
BibTeX BibTeX

Contact

Juergen Eckert
Reinhard German
Falko Dressler

BibTeX reference

@article{eckert2011indoor,
    author = {Eckert, Juergen and German, Reinhard and Dressler, Falko},
    title = {{An Indoor Localization Framework for Four-rotor Flying Robots Using Low-power Sensor Nodes}},
    journal = {IEEE Transactions on Instrumentation and Measurement},
    pages = {336-344},
    volume = {60},
    number = {2},
    year = {2011},
    month = {February},
    publisher = {IEEE},
    doi = {10.1109/TIM.2010.2085850},
   }
   
   

Copyright notice

Links to final or draft versions of papers are presented here to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted or distributed for commercial purposes without the explicit permission of the copyright holder.

The following applies to all papers listed above that have IEEE copyrights: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

The following applies to all papers listed above that are in submission to IEEE conference/workshop proceeedings or journals: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.

The following applies to all papers listed above that have ACM copyrights: ACM COPYRIGHT NOTICE. Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, to republish, to post on servers, or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from Publications Dept., ACM, Inc., fax +1 (212) 869-0481, or permissions@acm.org.

The following applies to all SpringerLink papers listed above that have Springer Science+Business Media copyrights: The original publication is available at www.springerlink.com.

This page was automatically generated using BibDB and bib2web.