Navigation, Guidance, Control and Dynamics Commons^™

Localization And System Identification Of A Quadcopter Uav, Kenneth Befus

Masters Theses

The research conducted explores the comparison of several trilateration algorithms as they apply to the localization of a quadcopter micro air vehicle (MAV). A localization system is developed employing a network of combined ultrasonic/radio frequency sensors used to wirelessly provide range (distance) measurements defining the location of the quadcopter in 3-dimensional space. A Monte Carlo simulation is conducted using the extrinsic parameters of the localization system to evaluate the adequacy of each trilateration method as it applies to this specific quadcopter application. The optimal position calculation method is determined.

Furthermore, flight testing is performed in which real range measurement data …