Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture
Micro air vehicles (MAVs) have penetrated precision agriculture domains over the past years due to their flexibility and capacity. However, the problem arises when moving the MAV applications into greenhouses, which limits the use of Global Positioning System (GPS). Visual methods have been recently...
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| Format: | Monograph |
| Language: | English |
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Universiti Sains Malaysia
2021
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| Online Access: | http://eprints.usm.my/54475/ http://eprints.usm.my/54475/1/Autonomous%20Navigation%20Of%20Micro%20Air%20Vehicle%20Using%20Ultra-Wideband%20Indoor%20Positioning%20In%20Precision%20Agriculture.pdf |
| _version_ | 1848882815768199168 |
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| author | Ching, Poh Ling |
| author_facet | Ching, Poh Ling |
| author_sort | Ching, Poh Ling |
| building | USM Institutional Repository |
| collection | Online Access |
| description | Micro air vehicles (MAVs) have penetrated precision agriculture domains over the past years due to their flexibility and capacity. However, the problem arises when moving the MAV applications into greenhouses, which limits the use of Global Positioning System (GPS). Visual methods have been recently utilized, but the sensors present limitations in greenhouses with the high amount of mist. The challenges remain in position accuracy and robustness in long-term autonomy. To this end, this project proposed a novel system to allow autonomous indoor navigation of MAV using ultra-wideband (UWB) technology. A UWB mobile tag is mounted on the MAV, which actively sending ranging request to a constellation of fixed-position anchors. The MAV is able to self-localize based on the distance measurements fused by an extended Kalman filter (EKF). The position estimation is fed into the control loop to aid the MAV navigation. Various flight tests were carried out successfully in different indoor environments. The results showed that the satisfactory performance of UWB autonomous navigation in greenhouses. The proposed system is expected to reduce labour-intensive activities and possible human error. |
| first_indexed | 2025-11-15T18:40:55Z |
| format | Monograph |
| id | usm-54475 |
| institution | Universiti Sains Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T18:40:55Z |
| publishDate | 2021 |
| publisher | Universiti Sains Malaysia |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | usm-544752022-09-05T06:28:08Z http://eprints.usm.my/54475/ Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture Ching, Poh Ling T Technology Micro air vehicles (MAVs) have penetrated precision agriculture domains over the past years due to their flexibility and capacity. However, the problem arises when moving the MAV applications into greenhouses, which limits the use of Global Positioning System (GPS). Visual methods have been recently utilized, but the sensors present limitations in greenhouses with the high amount of mist. The challenges remain in position accuracy and robustness in long-term autonomy. To this end, this project proposed a novel system to allow autonomous indoor navigation of MAV using ultra-wideband (UWB) technology. A UWB mobile tag is mounted on the MAV, which actively sending ranging request to a constellation of fixed-position anchors. The MAV is able to self-localize based on the distance measurements fused by an extended Kalman filter (EKF). The position estimation is fed into the control loop to aid the MAV navigation. Various flight tests were carried out successfully in different indoor environments. The results showed that the satisfactory performance of UWB autonomous navigation in greenhouses. The proposed system is expected to reduce labour-intensive activities and possible human error. Universiti Sains Malaysia 2021-06-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/54475/1/Autonomous%20Navigation%20Of%20Micro%20Air%20Vehicle%20Using%20Ultra-Wideband%20Indoor%20Positioning%20In%20Precision%20Agriculture.pdf Ching, Poh Ling (2021) Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Aeroangkasa. (Submitted) |
| spellingShingle | T Technology Ching, Poh Ling Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title | Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title_full | Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title_fullStr | Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title_full_unstemmed | Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title_short | Autonomous Navigation Of Micro Air Vehicle Using Ultra-Wideband Indoor Positioning In Precision Agriculture |
| title_sort | autonomous navigation of micro air vehicle using ultra-wideband indoor positioning in precision agriculture |
| topic | T Technology |
| url | http://eprints.usm.my/54475/ http://eprints.usm.my/54475/1/Autonomous%20Navigation%20Of%20Micro%20Air%20Vehicle%20Using%20Ultra-Wideband%20Indoor%20Positioning%20In%20Precision%20Agriculture.pdf |