International Global Navigation Satellite Systems Association
IGNSS Conference 2018
Colombo Theatres, Kensington Campus, UNSW Australia
7 – 9 February 2018
An Indoor-Outdoor Cooperative Localization
Framework for UAVs
Salil Goel
Joint PhD Student (MIPA Scholar)
Department of Infrastructure Engineering
The University of Melbourne, Australia
and
Department of Civil Engineering
Indian Institute of Technology Kanpur, India
Email: goel.salilg@gmail.com
Jelena Gabela
PhD Student
Department of Computing and Information Systems
The University of Melbourne, Australia
Email: jgabela@student.unimelb.edu.au
Allison Kealy
Professor
Department of Spatial Sciences
RMIT University, Australia
Email: allison.kealy@rmit.edu.au
Guenther Retscher
Associate Professor
Department of Geodesy and Geoinformation
TU Wien, Vienna, Austria
Email: guenther.retscher@tuwien.ac.at
ABSTRACT
Positioning and navigation in urban environments has been challenging due
to partial unavailability of GNSS (Global Navigation Satellite Systems)
measurements. The increasing availability of Wi-Fi (Wireless Fidelity) and
UWB (Ultra-Wide Band) measurements in indoor as well as outdoor urban
environments provides additional measurements that could be used for
localization. It has been demonstrated that sharing of information among
multiple platforms can help to overcome the challenges of precise
localization in GNSS challenging environments. This information sharing
strategy referred to as ‘Cooperative Localization (CL)’ has been shown to
provide superior localization solution in GNSS available environments. CL
refers to simultaneous positioning of all dynamic platforms in a connected
network where each node shares information about its own state and some
relative information about other nodes. A CL framework that combines
information exchange among multiple platforms and measurements from
GNSS, UWB and Wi-Fi can potentially solve some of the positioning and
navigation challenges in urban and indoor environments.
