liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Localization algorithms for indoor UAVs
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The increased market for navigation, localization and mapping system has encouraged the research to dig deeper into these new and challenging areas. The remarkable development of computer soft- and hardware have also opened up many new doors. Things which more or less where impossible ten years ago are now reality.

The possibilities of using a mathematical approach to compensate for the need of expensive sensors has been one of the main objectives in this thesis. Here you will find the basic principles of localization of indoor UAVs using particle filter (PF) and Octomaps, but also the procedures of implementing 2D scanmatching algorithms and quaternions. The performance of the algorithms is evaluated using a high precision motion capture system. The UAV which forms the basis for this thesis is equipped with a 2D laser and an inertial measurement unit (IMU). The results show that it is possible to perform localization in 2D with centimetre precision only by using information from a laser and a predefined Octomap.

Place, publisher, year, edition, pages
2011. , 54 p.
Keyword [en]
UAV, particle filter, Octomap, localization
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-72217ISRN: LiTH-ISY-EX--11/4526--SEOAI: oai:DiVA.org:liu-72217DiVA: diva2:458414
Subject / course
Automatic Control
Presentation
2011-10-28, Linköping, 10:15 (English)
Uppsok
Technology
Supervisors
Examiners
Available from: 2011-11-29 Created: 2011-11-22 Last updated: 2011-11-29Bibliographically approved

Open Access in DiVA

fulltext(2169 kB)482 downloads
File information
File name FULLTEXT01.pdfFile size 2169 kBChecksum SHA-512
74dc774bfd2350c54c0ede39ef0b31f86881170b6f130d03e63352b943335c65af37d86861aeb8ea7c3ab1495fe92917564c19cbff8d85fc963b06cdc5173f98
Type fulltextMimetype application/pdf

By organisation
Automatic ControlUASTECH - Autonomous Unmanned Aircraft Systems Technologies
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 482 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 898 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf