International Journal of

Automation and Smart Technology

Timothy Scott Chu1*, Alvin Chua1, Edwin Sybingco2, and Maria Antonette Roque2

1Mechanical Engineering Department, De La Salle University, 2401 Taft Ave, Malate, Manila, 1004 Philippines

2Electronics and Communications Engineering Department, De La Salle University, 2401 Taft Ave, Manila, Philippines 1004

Download Citation: |
Download PDF


ABSTRACT

An important factor that should be taken note in swarm application is the localization of each aerial drone for accurate implementation of a specific task. Indoor localization techniques, such as vision systems and radio systems, are developed to answer the mentioned problem. This paper presents a performance analysis of loco positioning system through varying configurations for swarm drone applications. Loco Positioning System is a radio localization technique in which processes two ranging protocols such as the Two-Way Ranging and Time Difference of Arrival. Cases are divided into 2 parameters, namely the number of anchors used, and the distances between anchors. These two parameters are set since they are important factors for constraints in costs and working space. Data showed that increasing the number of anchors from 3 to 6 decreases the error from 25.96% to 8.45%; in addition, results also showed that decreasing the distance between anchors 0.6m to 1m would give minimal increase in error. This paper is able to provide a performance report based on accuracy for each case on the specified parameters. These data may be utilized by users in determining their ideal setup based on their constraints through the two mentioned parameters.


Keywords: Swarm Drone; Loco Positioning System; Radio Localization; Two-Way Ranging


Share this article with your colleagues

 


REFERENCES

 

  1. [1] C. Dim, F. Nabor, G. Santos, M. Schoeler, & A. Chua, (2019, May), "Novel Experiment Design for Unmanned Aerial Vehicle Controller Performance Testing." In IOP Conference Series: Materials Science and Engineering (Vol. 533, No. 1, p. 012026), IOP Publishing. https://doi.org/10.1088/1757-899X/533/1/012026

  2. [2] Ahmed, H.R., & Glasgow, J.I. (2012). Swarm Intelligence : Concepts , Models and Applications Technical Report 2012-585.

  3. [3] Karaca, Y., Cicek, M., Tatli, O., Sahin, A., Pasli, S., Beser, M. F., & Turedi, S. (2018). The potential use of unmanned aircraft systems (drones) in mountain search and rescue operations. The American journal of emergency medicine, 36(4), 583-588. https://doi.org/10.1016/j.ajem.2017.09.025

  4. [4] Badshah, A., Islam, N., Shahzad, D., Jan, B., Farman, H., Khan, M., ... & Ahmad, A. (2018). Vehicle navigation in GPS denied environment for smart cities using vision sensors. Computers, Environment and Urban Systems. https://doi.org/10.1016/j.compenvurbsys.2018.09.001

  5. [5] J. A. Preiss , W. Honig, G. S. Sukhatme, & N. Ayanian, (2017, May). Crazyswarm: A large nano-quadcopter swarm. In Robotics and Automation (ICRA), 2017 IEEE International Conference on (pp. 3299-3304). IEEE. https://doi.org/10.1109/ICRA.2017.7989376

  6. [6] M. W. Mueller, (2018, December). "A Dynamics-Agnostic State Estimator for Unmanned Aerial Vehicles Using Ultra-Wideband Radios," ASME 2018 Dynamic Systems and Control Conference, American Society of Mechanical Engineers Digital Collection. https://doi.org/10.1115/DSCC2018-9079

  7. [7] J. L. Piquero, V. K. Delica, A. L. Orquia, E. M. Reynaldo, J. Ilao, M. A. Roque, ... & H. Jayakody, (2019), "A New Sliding Mode Controller Implementation on an Autonomous Quadcopter System" International Journal of Automation and Smart Technology, 9(2), 53-63.

  8. [8] S. Fahandezh-Saad, & M. W. Mueller, (2018, June). "An algorithm for real-time restructuring of a ranging-based localization network," International Conference on Unmanned Aircraft Systems (ICUAS) 2018 (pp. 236-242), IEEE. https://doi.org/10.1109/ICUAS.2018.8453294

  9. [9] "Crazyflie 2.0 | Bitcraze," bitcraze, n.d. [Online]. Available: https://www.bitcraze.io/crazyflie-2/. [Accessed: September 10, 2019].

  10. [10] "Loco Positioning System," bitcraze, n.d. [Online]. Available: https://www.bitcraze.io/loco-pos-system/. [Accessed: June 27, 2019].

  11. [11] "Loco Positioning Protocol," bitcraze, 2019. [Online]. Available: https://www.bitcraze.io/docs/lps-node-firmware/master/lpp/. [Accessed: June 28, 2019].

  12. [12] S. Dädeby and J. Hesselgren, "A system for indoor positioning using ultra-wideband technology," Masters dissertation, Dept. of Computer Science and Engineering, Chalmers University of Technology and University of Gothenburg, Gothenburg, Sweden, 2017.


ARTICLE INFORMATION

Received: 2019-08-23

Accepted: 2020-05-17
Available Online: 2021-07-01


Cite this article:

Timothy. S.C., Alvin. C., Edwin. S., Maria. A.R. (2021) A Performance Analysis on Swarm Drone Loco Positioning System for Two-Way Ranging Protocol. Int. j. autom. smart technol. https://doi.org/10.5875/ausmt.v11i1.2244

  Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Other people also read...

 

1.5
2022CiteScore
 
 
22nd percentile
Powered by  Scopus
 
 

AUSMT - Most Read Articles

AUSMT - Most popular articles