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http://dx.doi.org/10.5302/J.ICROS.2014.14.9050

An Implementation Study on a Low-cost High-accuracy Position Monitoring System for Unmanned Flying Robots  

Lim, Joonhoo (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Kim, Hee Sung (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Lee, Je Yong (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Choi, Kwang Ho (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Cho, Jeongho (Department of Avionics Eng., Hanseo University)
Lee, Hyung Keun (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.12, 2014 , pp. 1196-1203 More about this Journal
Abstract
Recently, UFRs (Unmanned Flying Robots) have begun to be utilized in various areas for civilian and military applications. Due to this increased utilization, accidents involving UFRsare also increasing. To prevent or monitor accidents caused by UFRs, high-accuracy positioning information is one of the most important technical elements. This paper proposes an efficient UFR monitoring system which provides accurate UFR positioning information with low-cost onboard elements; a small ARM module based on an embedded Linux operating system, a low-cost single frequency GPS receiver with a cheap patch antenna, and a versatile wireless network interface module. The ground monitoring system employs a dual frequency GPS receiver to generate exact UFR coordinates with cm-level accuracy. By processing the UFR measurements based on the Inverse RTK (Real Time Kinematic) method, the ground monitoring system determines the cm-level accurate coordinates of the UFR. The feasibility of the proposed UFR monitoring system was evaluated by three experiments in terms of data loss and accuracy.
Keywords
URF; embedded linux; GPS; inverse RTK; monitoring system;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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