Position Estimation Applying Particle Filter for Autonomous Multi-Copter with Ultra-Wide Band Device

Abstract

Recently, research on self-position estimation for autonomous flight multi-copters in indoor environments has been conducted. One of the methods, there is a self-position estimation method using the radio communication device such as Bluetooth, WiFi and Ultra-Wide Band (UWB) device. This research proposes a self-position estimation method applying a Particle Filter (PF) using UWB device. The adventure of our proposed method is ability to dynamically use multiple UWB anchors and consider the dynamics of the multi-copter for position estimation. This paper performs the verification of the estimation accuracy for the proposed method through simulation.