Local Positioning System Using UWB Range Measurements for an Unmanned Blimp
Bibliographic record
Abstract
Unmanned blimps are a safe and reliable alternative to conventional drones when flying above people. On-board real-time tracking of their pose and velocities is a necessary step toward autonomous navigation. There is a need for an easily deployable technology that is able to accurately and robustly estimate the pose and velocities of a blimp in 6 DOF, as well as unexpected applied forces and torques, in an uncontrolled environment. We present two multiplicative extended Kalman filters using ultrawideband radio sensors and a gyroscope to address this challenge. One filter is updated using a dynamics model of the blimp, whereas the other uses a constant speed model. We describe a set of experiments in which these estimators have been implemented on an embedded flight controller. They were tested and compared in accuracy and robustness in a hardware-in-loop simulation as well as on a real blimp. This approach can be generalized to any lighter than air robot to track it with the necessary accuracy, precision, and robustness to allow autonomous navigation.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".