[1]LIN Haitao,ZHANG Hua,LI Yonglong,et al.Research on the positioning method of tethered UAV using force sensing[J].CAAI Transactions on Intelligent Systems,2020,15(4):672-678.[doi:10.11992/tis.201907015]
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Research on the positioning method of tethered UAV using force sensing

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 4 Page number: 672-678 Column: 学术论文—智能系统 Public date: 2020-07-05
Title:
Research on the positioning method of tethered UAV using force sensing
Author(s):
LIN Haitao1;  ZHANG Hua1;  LI Yonglong1; 2;  WANG Shuang1; 2;  CHEN Caifu1;  WANG Haoran3
1. School of Information Engineering, Southwest University of Science and Technology, Mianyang 621000, China;
2. Sichuan Energy Internet Research Institute, Tsinghua University, Chengdu 610000, China;
3. State Key Laboratory of Hydroscience and Engineering, Tsinghua University, Beijing 100084, China
Keywords:
tethered UAV; catenary; winding machine; indoor positioning; force sensor; lidar; vision
CLC:
TP242.6
DOI:
10.11992/tis.201907015
Abstract:
In a GPS denied environment, the localization can be achieved by different sensors such as Lidar and camera. Due to the influence of distance and light, precise localization cannot be achieved. Aiming at this problem, this paper proposes a force sensing based tethered UAV positioning method. When the tethered UAV is flying indoors, the state of the rope can be equivalent to the catenary line. By establishing the catenary model of the tethered UAV, the spatial location of the UAV can be effectively estimated. Using an UAV based on force sensor, a silicone cable, and a winder to build a test platform, using the tether positioning data and MarveImind’s Indoor “GPS” to calibrate the position of the UAV for error comparison analysis. The experimental results show that the positioning accuracy of the mooring drone based on force sensing is 70.85% higher than the Fotokite Pro UAV cable positioning method. The proposed positioning method is conducive to the stable flight of the tethered UAV in a GPS denied environment.
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Last Update: 2020-07-25

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