{"title":"PolyPoint: Guiding Indoor Quadrotors with Ultra-Wideband Localization","authors":"B. Kempke, P. Pannuto, P. Dutta","doi":"10.1145/2799650.2799651","DOIUrl":null,"url":null,"abstract":"We introduce PolyPoint, the first RF localization system which enables the real-time tracking and navigating of quadrotors through complex indoor environments. PolyPoint leverages the new ScenSor transceiver from DecaWave to acquire the timestamps necessary for accurate time-based location estimation and leverages the benefits of antenna and frequency diversity to iteratively refine a tag's position. PolyPoint produces quadrotor position estimates at a rate of 20 Hz with median error below 40 cm and average error of 56 cm in line-of-sight conditions. PolyPoint approaches the localization accuracy necessary to safely navigate quadrotors indoors, a feat currently achieved by costly and delicate optical motion capture systems.","PeriodicalId":275880,"journal":{"name":"Proceedings of the 2nd International Workshop on Hot Topics in Wireless","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"91","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2nd International Workshop on Hot Topics in Wireless","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/2799650.2799651","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 91
Abstract
We introduce PolyPoint, the first RF localization system which enables the real-time tracking and navigating of quadrotors through complex indoor environments. PolyPoint leverages the new ScenSor transceiver from DecaWave to acquire the timestamps necessary for accurate time-based location estimation and leverages the benefits of antenna and frequency diversity to iteratively refine a tag's position. PolyPoint produces quadrotor position estimates at a rate of 20 Hz with median error below 40 cm and average error of 56 cm in line-of-sight conditions. PolyPoint approaches the localization accuracy necessary to safely navigate quadrotors indoors, a feat currently achieved by costly and delicate optical motion capture systems.
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