---
title: Localization using uni-axial laser rangefinder and IMU for MAV
tags: 
author: [伊藤恒平](https://convert.docswell.com/user/Kouhei_Ito)
site: [Docswell](https://www.docswell.com/)
thumbnail: https://bcdn.docswell.com/page/P7XM8KR6JX.jpg?width=480
description: 距離センサを機体で回すことによって２次元Liderと同じように地図と照合して自己位置を空いているすモンテカルロローカリセーションを実現しようというお話です。
published: December 01, 22
canonical: https://convert.docswell.com/s/Kouhei_Ito/ZJ7615-2022-12-01-153522
---
# Page. 1

![Page Image](https://bcdn.docswell.com/page/P7XM8KR6JX.jpg)

Localization using uni-axial laser
rangefinder and IMU for MAV


# Page. 2

![Page Image](https://bcdn.docswell.com/page/37KGK5RGED.jpg)

Introduction


# Page. 3

![Page Image](https://bcdn.docswell.com/page/LJ3NZK85J5.jpg)

UAV and MAV
●
In recent years, research on Unmanned Aerial
vehicles (UAV) and Micro aerial vehicles (MAV)
has become more popular.
Introduction
3


# Page. 4

![Page Image](https://bcdn.docswell.com/page/8JDWR3MYEG.jpg)

Localization
①Scanning the environment
②Matching the point cloud data to the map
③Localization
Point cloud data
Scanning
Matching map and
point cloud sata
Map
Introduction
4


# Page. 5

![Page Image](https://bcdn.docswell.com/page/VEP9W4R278.jpg)

Laser scanner
Hokuyo
UTM-30LX
210g
Velodyne
HDL-64e
13kg
Introduction
SICK
LMS210
4.5kg
5


# Page. 6

![Page Image](https://bcdn.docswell.com/page/27VM8XRX7Q.jpg)

Size and Weight
30cm
1.3kg
Introduction
6


# Page. 7

![Page Image](https://bcdn.docswell.com/page/5JGG5VMRJL.jpg)

Laser scanner
Hokuyo
UTM-30LX
210g
Velodyne
HDL-64e
13kg
Introduction
SICK
LMS210
4.5kg
7


# Page. 8

![Page Image](https://bcdn.docswell.com/page/47QXZ6RYJP.jpg)

Purpose
UAV Localization
using rotation
UAV miniaturization and
weight reduction
Introduction


# Page. 9

![Page Image](https://bcdn.docswell.com/page/KE46348ZJ1.jpg)

MAV System
9


# Page. 10

![Page Image](https://bcdn.docswell.com/page/L71V142DJG.jpg)

Equipment
MAV System
10


# Page. 11

![Page Image](https://bcdn.docswell.com/page/G7WL8XR8J2.jpg)

System
Uniaxial LRF
12V Supply
22.2V Battery
USB
USB
Wifi
Navigation USB Auto pilot
APM2.6
BeagleBoard-xM
ESC
ESC
ESC
ESC
Motor
モータ
モータ
モータ
5V Supply
MAV System
11


# Page. 12

![Page Image](https://bcdn.docswell.com/page/4JZM86R973.jpg)

Attitude and Vertical control
●
PID Attitude Control system
Pitch/Roll
Varying left/right
thrust causes
angular velocity
Yaw
One pair CW
One pair CCW
Vertical
Up
Gravity
Difference of
thrust causes
pitch/roll rate
Difference of
yaw moment
causes rotation
Move forward/backward
Down
Gravity
Control
12


# Page. 13

![Page Image](https://bcdn.docswell.com/page/YE6NP2RDEV.jpg)

Localization
13


# Page. 14

![Page Image](https://bcdn.docswell.com/page/GE55K288E4.jpg)

Monte Carlo Localization
Step 1
Step 2
Likelihood update
Initial distribution
Compare robot&#039;s
environment with
particles&#039;
environment
Particles
Robot
Step 3
Resampling and
Position estimation
Resample particles by
their likelihood to
estimate robot&#039;s
position
Step 4
Motion prediction
All particle move
according to a
probabilistic
motion model
Return to Step 2
14


# Page. 15

![Page Image](https://bcdn.docswell.com/page/972NW4KVJR.jpg)

Monte Carlo Localization
Localization
15


# Page. 16

![Page Image](https://bcdn.docswell.com/page/DJYPLMNQJM.jpg)

Quadrotor motion model
2
x k +1=0.5 a x Δ t +v x Δ t + x k
k
2
y k +1 =0.5 a y Δ t +v y Δ t + y k
v x =a x Δ t +v x
v y =a y Δ t +v y
ψk +1= p Δ t + ψk
k
k +1
k
k
k +1
k
k
Position, Velocity and Yaw angle x k , y k , v x ,v y , ψk
Control
a x , a y , r (Yaw rate)
k
k
Localization
16


# Page. 17

![Page Image](https://bcdn.docswell.com/page/V7N54WX2E8.jpg)

Measurement model
(A)
(B)
(C)
(D)
Measurement model = A + B + C + D
Localization
17


# Page. 18

![Page Image](https://bcdn.docswell.com/page/YJ9YQX8D73.jpg)

Scanning by Maneuver
Set distance
between each
point
●
Rotation at each
point
●
Fixed UAV
altitude
●
Rotation
points
Localization
18


# Page. 19

![Page Image](https://bcdn.docswell.com/page/GJ86G285ED.jpg)

Experiment
19


# Page. 20

![Page Image](https://bcdn.docswell.com/page/LJL9G2R37R.jpg)

Experiment environment
Created using UTM-30LX
Experiments
20


# Page. 21

![Page Image](https://bcdn.docswell.com/page/47MZQ8RMJW.jpg)

Simulation result
Initial Particle
distribution
Resampling
after UAV
rotation
Success
estimation
Movement
without rotation
resulted in
expansion of
particle
distribution
21


# Page. 22

![Page Image](https://bcdn.docswell.com/page/P7R685RLE9.jpg)

Simulation
22


# Page. 23

![Page Image](https://bcdn.docswell.com/page/PJXM8KY6EX.jpg)

Experimental Result
23


# Page. 24

![Page Image](https://bcdn.docswell.com/page/3JKGK53G7D.jpg)

Conclusion and Future work
●
●
●
●
We achieved successful localization using a uniaxial laser
rangefinder by applying Monte Carlo Localization.
In order to self-localize, the UAV has to rotate.
We will next add equipment to mechanically obtain the
UAV`s true position to acquire a more accurate
comparison between the experimental and theoretical
results.
We will strive to achieve autonomous flight where the UAV
will decide the best actions by itself.
24


