NDLI: An Indoor Localization Framework for Four-Rotor Flying Robots Using Low-Power Sensor Nodes

Content Provider	IEEE Xplore Digital Library
Author	Eckert, J. German, R. Dressler, F.
Copyright Year	1963
Abstract	We study the relevance of highly precise indoor localization techniques for quadrocopters and present an ultrasonic sensor system that achieves excellent localization performance, although 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 monorotor objects (helicopters), the quadrocopters can be piloted with much lower effort. However, lateral drifts cannot be compensated for 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. To compensate for 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 the case of erroneous measurements. The developed hardware platform is very lightweight to be carried by mobile robots and flying quadrocopters. Based on our real-time localization system, position controller and navigation functionality can be implemented.
Sponsorship	IEEE Instrumentation and Measurement Society Bureau international des poids et mesures IEEE International Bureau of Weights and Measures (BIPM) URSI NBS Agency Ind. Sci. & Technol., Min. Int. Trade & Ind. Sci. Council Japan International Union of Pure and Applied Physics (IUPAP) NIST NRCC National Conference of Standards Laboratories (NCSL) Allen Osborne Associates Andeen-Hagerling, Inc. Ballantine Lab. Inc. Clarke-Hess Communications Research Corp. Fluke Corporation Guildline Instruments Hewlett-Packard Co. Julie Res. Lab. Inc. Keithley Instruments, Inc. Measurements International Ltd. Canada QuadTech Inc. Quantum Design Inc. Rotek Instrum. Corp. Tegam Inc. Tektronix Inc
Starting Page	336
Ending Page	344
Page Count	9
File Size	684243
File Format	PDF
ISSN	00189456
Volume Number	60
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Ultrasonic imaging Ultrasonic variables measurement Accuracy Estimation Equations ultrasonic Flying robot indoor localization sensor network
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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