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Journal of Projectiles, Rockets, Missiles and Guidance >

2021 , Vol. 41 >Issue 3: 105 - 108

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.03.023

Tracking and Localization Algorithm of Indoor UAV Based on Ultrasonic Ranging and Doppler Velocimetry

  • HUANG Ting ,
  • XU Ming
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  • Nanchang Campus Information Center of Jiangxi Vocational College of Finance and Economics,Nanchang 331700, China

Received date: 2020-08-18

  Online published: 2025-02-20

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Abstract

Aiming at the tracking and localization problem of indoor unmanned aerial vehicles (UAV), a tracking and positioning algorithm (TLUD) based on ultrasonic ranging and Doppler velocity measurement is proposed. The TLUD algorithm estimates the time of arrival of the ultrasonic signal to the receiving end and the distance between the sound source and the receiving end, and uses Doppler effect to estimate the mobile speed of UAV.Then, Kalman filtering algorithm is used to modify the ranging data by combining ranging and velocity measurement data. Finally, the least square method of Taylor series expansion is used to estimate the UAV position, and the UAV tracking is realized. Simulation results show that the average positioning error of the proposed TLUD algorithm in indoor environment is about 0.55 cm.

Key words： unmanned aerial vehicles; indoor localization; time differrence of arrival; Doppler velocimetry; Kalman filtering

Cite this article

HUANG Ting , XU Ming . Tracking and Localization Algorithm of Indoor UAV Based on Ultrasonic Ranging and Doppler Velocimetry[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2021 , 41(3) : 105 -108 . DOI: 10.15892/j.cnki.djzdxb.2021.03.023

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