Unmanned Patrol System Based on Kalman Filter and ZigBee Positioning Technology

Abstract

In this paper, a security patrol method using UAV (Unmanned Aerial Vehicle) [1] as a carrier was proposed to solve the problems caused by traditional patrol methods such as low patrol frequency, low patrol efficiency and high security patrol cost. The ZigBee[2] module (the chip using CC2530 of ti) was adopted to locate the UAV. Also, the Kalman filter algorithm was used to reduce the influence of noise on the airborne patrol system to improve the positioning accuracy. This system was equipped with a ground station. and users could select nodes at the ground station for planned flight. The data exchanged between the ground station and the UAV through the XBee S3B module[3]. The UAV transmitted the images captured by the camera to the ground station in real time through the Athreros AR9271 WIFI launcher for security personnel to check in time. The ground station also handled the situation on the spot. As the UAV reached the area with poor GPS signal, we used ZigBee networking to locate and enhance the accuracy of positioning. Security patrols with UAVs(Unmanned Aerial Vehicles) as carriers improved traditional patrol methods to some extent. After a certain amount of data analysis, the results show that the ZigBee positioning data processed by Kalman filter are reliable.