PolyPoint

作者：Benjamin Kempke, Pat Pannuto, Prabal Dutta · 年份：2015 · DOI：10.1145/2799650.2799651 · 被引用次数：69 · 研究领域：Indoor and Outdoor Localization Technologies、Radio Wave Propagation Studies、Robotics and Sensor-Based Localization

We introduce PolyPoint, the first RF localization system which enables the real-time tracking and navigating of quadrotors through complex indoor environments. PolyPoint leverages the new ScenSor transceiver from DecaWave to acquire the timestamps necessary for accurate time-based location estimation and leverages the benefits of antenna and frequency diversity to iteratively refine a tag's position. PolyPoint produces quadrotor position estimates at a rate of 20 Hz with median error below 40 cm and average error of 56 cm in line-of-sight conditions. PolyPoint approaches the localization accuracy necessary to safely navigate quadrotors indoors, a feat currently achieved by costly and delicate optical motion capture systems.