UWB Localisation

Distributed UWB inter-ranging for MAV swarms in large GNSS-denied environments

Master thesis (2022)

Authors

F.A. Dupon Aerospace Engineering

Contributors

S.U. Pfeiffer (mentor)
Faculty
Aerospace Engineering, Aerospace Engineering
Copyright: © 2022 Fréderic Dupon
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Published Date

30-08-2022

Language

English

Reuse Rights

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Faculty

Aerospace Engineering

Abstract

The use of micro air vehicles (MAV) is becoming increasingly mainstream and with them their applications have become more demanding across the board. The application of MAV’s in large GNSS-denied environments often asks for a distributed and scalable localisation system with minimal reliance on static localisation hardware. In this research a distributed ultra-wideband (UWB) localisation system that takes advantage of the collaborative capabilities of a swarm of MAV’s has been developed and tested in both simulation and practice. Additionally, a modular UWB simulator has been developed which enables researchers to test UWB localisation schemes for a swarm of MAV’s. It has been found that when taking advantage of the UWB inter-agent ranging capabilities of a swarm of micro air vehicles, one can increase the coverage of an UWB setup in spaces with coverage-issues and conversely increase the accuracy of an existing UWB setup that has full UWB coverage.

Files

Report.pdf
(.pdf | 10.4 Mb)