Huang Z., Ono M., Shiigi T., Suzuki T., Habaragamuwa H., Nakanishi H., Kondo N., 2017, Is Spread Spectrum Sound a Robust Local Positioning System for a Quadcopter Operating in a Greenhouse?
, Chemical Engineering Transactions, 58, 829-834.
This paper evaluates the robustness of a hybrid Spread Spectrum Sound Local Positioning System (SSSLPS)/ Inertial Navigation System (INS) navigation system for use with a quadcopter with respect to two issues: noise interference from the quadcopter (80 dB measured at 6cm over quadcopter), and positioning error caused by SSSLPS characteristics, such as distance measurement error, time delay and measuring interval. Results show the SSsound signal can be detected when the Signal Noise Ratio (SNR) was larger than -20.3 dB, and with an average two-dimensional (2D) positioning error less than 40 mm. These results indicate the hybrid SSSLPS/INS navigation system can be used to position a mobile quadcopter in a greenhouse.
