OUTDOOR QUADRICOPTER TRAJECTORY TRACKING WITH UWB TAG LOCATOR Damir Šoštarić, Goran Horvat, Drago Žagar Department of Communications Faculty of Electrical Engineering J.J.Strossmayer University of Osijek Kneza Trpimira 2b, 31000 Osijek, Croatia email: damir.sostaric@etfos.hr, goran.horvat@etfos.hr, drago.zagar@etfos.hr
Abstract: 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. Keywords: Quadricopter flying, UWB tag, Exterior columns, UWB synchronous master/slaves node, Trajectory path, Quadricopter; launching, landing, maneuver, flips.
Acknowledgment
This work was sponsored by the XBee Team: http://www.xbee.tv from their own resources. Special thanks to collegue Marijan Herceg for lent UWB hardware set of new technology. I. Introduction Outdoor tracking system of moving objects today is very represented in scientific and military robotic and communication area of research. Since the beginning of the information technology era many ways of detecting objects are discussed. Indoor tracking system is so covered with transmission and reception or just the reception technique based on infrared spectrum. Infrared light source was suitable for indoor object tracking, but when this system is integrated outdoor, noise is generated due to
the limitations of distance and interference are obtained from other light sources e.g. sunlight or streetlight. Indoor system usually use infrared light source while sensor is standard infrared camera whose signal passing through the remotely dislocated analyzer software installed on workstation [1]. Indoor trajectory tracking system usually is used for precise positioning of objects. More demanding practical applications with strictly defined routes are considered. Object compensation algorithms for this application are realized thought more sensor/ receiver unit. In indoor system of tracking interference or disturbance on object is small because don’t have wind and other atmospherics influence. Outdoor systems work on slightly principles. Usually all principles are based on RF (radio 15