Combining Zigbee and inertial sensors for quadrotor UAV indoor localization

This paper presents the application of Zigbee and airspeed gauge to the problem of quadrotor UAV indoor localization in a known environment. A zigbee indoor location system was developed, where quadrotor was associated with the Zigbee wireless nodes for self-localization. Additionally, Inertial sensors, such as airspeed meter and accelerometer were used to increase the accuracy, and the extended Kalman filter (EKF) was used to make the data more stable. A variety of tests were carried out in an indoor environment. Results demonstrate that the localization system is viable, showing it to be effective, flexible and easily adaptable to various situations.