Quadrotor-Based Lighthouse Localization with Time-Synchronized Wireless Sensor Nodes and Bearing-Only Measurements

Sensors
Brian G KilbergKristofer S J Pister

Abstract

Some robotic localization methods, such as ultra wideband localization and lighthouse localization, require external localization infrastructure in order to operate. However, there are situations where this localization infrastructure does not exist in the field, such as robotic exploration tasks. Deploying low power wireless sensor networks (WSNs) as localization infrastructure can potentially solve this problem. In this work, we demonstrate the use of an OpenWSN network of miniaturized low power sensor nodes as localization infrastructure. We demonstrate a quadrotor performing laser-based relative bearing measurements of stationary wireless sensor nodes with known locations and using these measurements to localize itself. These laser-based measurements require little computation on the WSN nodes, and are compatible with state-of-the-art 2 mm × 3 mm monolithic wireless system-on-chips (SoCs). These capabilities were demonstrated on a Crazyflie quadcopter using an Extended Kalman Filter and a network of motes running the OpenWSN wireless sensor network stack. The RMS error for X positioning was 0.57 m and the error for Y positioning was 0.39 m. This is the first use of an OpenWSN sensor network to support robotic localization. ...Continue Reading

References

Feb 28, 2013·Sensors·Ankur MehtaKristofer S J Pister
Jul 8, 2017·Sensors·Pierre MerriauxXavier Savatier

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Methods Mentioned

BETA
Chip

Software Mentioned

MIMSYs
VICON
Crazyflie
Vive
TSCH
MIMSY
OpenWSN
OptiTrack

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