{"id":77,"date":"2020-10-20T14:17:13","date_gmt":"2020-10-20T18:17:13","guid":{"rendered":"https:\/\/carleton.ca\/atarg\/?page_id=77"},"modified":"2020-10-20T14:17:13","modified_gmt":"2020-10-20T18:17:13","slug":"portable-ultrasonic-localization","status":"publish","type":"page","link":"https:\/\/carleton.ca\/atarg\/portable-ultrasonic-localization\/","title":{"rendered":"Portable Ultrasonic Localization"},"content":{"rendered":"

Quadcopters typically rely on GPS for localization.\u00a0 However, numerous applications exist where operation is desired, or even required, in GPS denied environments.\u00a0 This can include operation in locations where local geographical features make GPS unreliable (for example, remote mountainous terrain).\u00a0 This may also include indoor applications where reception is blocked, or even precision landing\u00a0applications (i.e., package delivery) where GPS accuracy alone is insufficient.<\/p>\n

<\/p>\n

\"\"<\/p>\n

Therefore, we have developed and tested an ultrasonic localization system which uses five receiving nodes located on the vehicle and a portable beacon which can be tracked.\u00a0 This system is able to localise position under static conditions to within 9 cm with an update rate of approxmately 10\u00a0Hz<\/a>.<\/p>\n

<\/p>\n

\"\"<\/p>\n

This translates to the quadcopter being able to hold itself in position to within 40 cm of the portable beacon at heights up to 3 m.\u00a0 This system is also capable of landing the quadcopter<\/a> to within 18 cm of the beacon and following a moving beacon at speeds up to 1 m\/s.<\/p>\n

<\/p>\n

\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"

Quadcopters typically rely on GPS for localization.\u00a0 However, numerous applications exist where operation is desired, or even required, in GPS denied environments.\u00a0 This can include operation in locations where local geographical features make GPS unreliable (for example, remote mountainous terrain).\u00a0 This may also include indoor applications where reception is blocked, or even precision landing\u00a0applications (i.e., […]<\/p>\n","protected":false},"author":5,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","_mi_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":"","_links_to":"","_links_to_target":""},"yoast_head":"\nPortable Ultrasonic Localization - Atmospheric and Transatmospheric Research Group<\/title>\n<meta name=\"description\" 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