文章基本信息

标题：Indoor Localization of a Quadrotor Based on WSN: A Real-Time Application
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作者：Jose L. Rullan-Lara ; Guillaume Sanahuja ; Rogelio Lozano 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/53748
语种：English
出版社：SAGE Publications
摘要：A real-time localization algorithm is presented in this paper. The algorithm presented here uses an extended Kalman filter and is based on Time Difference Of Arrivals (TDOA) measurements of radio signal. The position and velocity of an Unmanned Aerial Vehicle (UAV) are successfully estimated in closed-loop in real-time, both in hover and path following flights. Relatively small position errors obtained from the experiments prove the good performance of the proposed algorithm.
关键词：Time Difference of Arrival; Kalman Filter; Localization; UAV; WSN