A Way of Safe Wireless Networks using IMU/UWB/Vision through Sensor Networks

In current military and private spheres, the demand for exact localization within the home of mobile agents, especially small unmanned aircraft (UAVs), has attracted significant attention. This paper shows a new method to indoor UAV localization using Ultra-WideBand technology, combined with a cost-effective Motion Measurement Unit (IMU) while vision-based devices. A vital improvement to the positioning process is brought through the inclusion of an additional Kalman filter (EKF). The utilization of an inexpensive and low-cost IMU with the modeling phase, paired with the inclusion of vision odometer measurements for identifying marks in the closeness of the landing area, forms a key aspect of this method. The addition of range data plays a key role in reducing mistakes affiliated with the limited capabilities of gyroscopes and accelerometers, which are inherent in inertial devices. By deploying these multi-modal technologies that the suggested approach achieves a surprising level of precision, with data showing an amazing precision equal to 10 centimeters. This development holds potential for improving the operating effectiveness of small UAVs in indoor settings, offering a robust solution that joins Ultra-WideBand technology, IMU, while vision-based sensors throughout the framework of an Extension Kalman Filter.