Ultra-wideband aided UAV positioning using incremental smoothing with ranges and multilateration

maryam.jameela

Our paper (“Ultra-wideband aided UAV positioning using incremental smoothing with ranges and multilateration”) was accepted by the IROS 2020 (https://www.iros2020.org/) in collaboration with Centre de géomatique du Québec, Canada

This paper is one of our ground research works for developing Q-Drone system. The Q-Drone stands for a quality-driven drone system enabling a dynamic adjustment of path planning through online evaluation of the asset inspection mission.

  • We present a novel incremental smoothing approach for UWB aided UAV positioning.
  • We seamlessly integrate two types of UWB-based measurements and inertial measurement into a unified factor graph framework.
  • We also propose an “add-after-eliminating” strategy for adding multilateration outcomes into a graph for online operation.

Project Contributors:
York University, Canada:
Jungwon Kang, Kunwoo Park, Zahra Arjmandi, Gunho Sohn
Centre de géomatique du Québec, Canada:
Mozhdeh Shahbazi and Patrick Ménard