为微型扑翼无人机设计轻量级高精度定位系统
Range-Only Localization System for Small-Scale Flapping-Wing Robots
- 采用5克定制超宽带传感器实现3D定位
- 定位误差仅0.28米，计算与能耗极低
- 适合资源受限的微型飞行器使用
小型扑翼飞行机器人因载荷和机载计算资源有限，其定位系统设计面临挑战。本文提出一种专为小型扑翼机器人设计的超宽带定位系统，采用自定义5克超宽带传感器，实现了鲁棒、高效（计算与能耗均低）且精确的3D位置估计，平均误差仅为0.28米。系统在Flapper Nimble+扑翼机器人上进行了验证。
原文摘要 · Abstract (English)
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system particularly designed for small-scale flapping-wing robots. The solution relies on custom 5 grams ultra-wideband sensors and provides robust, very efficient (in terms of both computation and energy consumption), and accurate (mean error of 0.28 meters) 3D position estimation. We validate our system using a Flapper Nimble+ flapping-wing robot.
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