Drone race for Beginners 2025

Introduction

Rules

https://drive.google.com/file/d/10Jv_ahA-4ozJz8-BRSHxayUERvFkb-yh/view

The field

1. At least 11 m long, 5 m wide and 2,5 m high and a safety net. The field ground is a dark coloured carpet or rubber mat.
2. 4 walls (obstacles) with at least 1500×1000 mm (width × height) rectangular holes at different heights. Maximum size of a wall is 1800×2500 mm. The colour of the walls is dark brown or black.
3. a white 50 mm indicative line on the field.

The robot

1. Fly at the height of 0,3 - 3 m. Can have stiff wings, rotors, moving wings or an airship-like design. A maximum speed of 10 m/s.
2. Weight up to 2 kg and its dimensions max 80×80×80 cm³.
3. Maximum of four active and/or passive navigation devices can be used. Navigation

devices must be placed in the corners of the field.

The competition

1. Max 3 people

Local Indoor Positioning and Mapping

UWB modules

• DecaWave DW1000 (MakerFabs), also with ESP32.
• DecaWave DW3000
• MaUWB_ESP32S3 UWB module (DW1000 / DW3000)
• Elecrow Crowtail Dwm1000 UWB

Technologies

• Wi-Fi-based positioning system (WPS)
• Bluetooth (ver 5.1 *does* specify AoA and AoD )
  • Long Range and Direction Finding Multiprotocol Module Suitable for BLE / Thread / Zigbee / ANT+ / NFC applications with MCU and Antenna https://www.insightsip.com/products/bluetooth-le-modules/isp1907 https://www.insightsip.com/fichiers_insightsip/pdf/ble/ISP1907/isp_aoa_AN210401.pdf
  • 12 Antennas should be used? https://docs.nordicsemi.com/bundle/ncs-latest/page/nrf/samples/bluetooth/direction_finding_central/README.html
  • Needs an antenna array? SmartBond TINY Bluetooth Low Energy Module https://www.renesas.com/en/products/da14531mod?language=en
• Choke point concepts (RFID / NFC systems)
  • RFID's range about 2 or 3 m absolute max.
• Grid concepts
• Angle of arrival
• Time of arrival
• Received signal strength indication
• Radio frequency identification[16] (RFID): passive tags are very cost-effective, but do not support any metrics
• Ultra-wideband (UWB): reduced interference with other devices. DW1000 and DW3000 chips.
  • a wide bandwidth (>500 MHz)
  • pulse-position or time modulation
  • Indoor localization using ESP32_UWB (DW1000) tags and anchors https://github.com/jremington/UWB-Indoor-Localization_Arduino/blob/main/README.md https://www.makerfabs.com/esp32-uwb-ultra-wideband.html
  • Ardupilot and UWB https://discuss.ardupilot.org/t/indoor-positioning-with-ardupilot-based-on-uwb-modules/28819
  • Test https://www.instructables.com/ESP32-UWB-Indoor-Positioning-Test/
  • https://github.com/KunYi/esp32-uwb-positioning-system (ESP32 boards with DW3000 UWB module)
• Infrared: previously included in most mobile devices
• Gen2IR (second generation infrared)
• Visible light communication (VLC), as LiFi: can use existing lighting systems
• Ultrasound: waves move very slowly, which results in much higher accuracy
• IR emitter & receiver
• RSSI will not give very good results even in an open space (https://forum.arduino.cc/t/indoor-positioning-system-using-arduino/242161/2)

Some methods found on internet

• Pozyx: accurate indoor positioning for Arduino (2015), https://duino4projects.com/pozyx-accurate-indoor-positioning-arduino/ https://www.kickstarter.com/projects/pozyx/pozyx-accurate-indoor-positioning-for-arduino https://www.pozyx.io/ https://www.youtube.com/watch?v=B9qny4G3-r8
  • ultra-wideband (UWB) radio technology.

• Localino (2017) https://www.instructables.com/Localino-Open-Source-Indoor-Location-System-Arduin/