Indoor Drone Application with Acoustic Localization

Abstract

This paper investigates the design of a rotary wing unmanned aerial vehicle (UAV) and the method used for this UAV to determine its mathematical location indoors. The optimal method used for the location determination was established upon research. By reducing the signal loss caused by the indoor area and with the use of acoustic localization that measure distance by 3-dimensional vectors with velocity of ultrasonic sound wave, the determined method allowed the instantaneous observation of the UAV's mathematical location in 3-dimensional space. Furthermore, this method enabled a balanced and efficient autonomous flight indoors.