engleski

Outdoor Quadricopter Trajectory Tracking with UWB Tag Locator

The paper presents quadricopter flying in outdoor conditions with special tasks. Visual tracking of quadricopter is realized with UWB technology. UWB tracking software shows path of moving tag. Small UWB tag device is mounted on quadricopter. With software dynamic refreshing and synchronization in real-time path drawing process is obtained. UWB transmits a signal over multiple bands of frequencies simultaneously, from 3.1 GHz to 10.6 GHz. UWB tags consume less power than conventional RF tags and can operate across a broad area of the radio spectrum. Ubisense, which UWB technology we had available, uses active tags, which the company calls Ubitags, and readers, or Ubisensors, operating from 5.8 to 7.2 GHz. Ubisensor readers are mounted on pillars and with double LAN cable connected each other. Minimum delay of transmission is secured in this way which provides precise locating of the active tag. In order to increase the accuracy of active tag it can be used precision GPS or we need passes through multi-point calibration. With restated battery in terms of higher current and higher capacity longer flight time and flip at low altitudes are achieved. Weight limit with additional parts on quadricopter are tested. Subjective sense is also defined by the various controllers based on AndroidOS and iOS devices. Tested model of quadricopter ARDrone 2.0., demonstrated outstanding ability in absolute control mode. During launching and landing system has ultrasonic rangefinder and automatic ability for soft take off and landing.

Quadricopter flying; UWB tag; Exterior columns; UWB synchronous master/slaves node; Trajectory path; Quadricopter; launching; landing; maneuver; flips.

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