Design and Implementation of a Radio-based Indoor Localization System for Cyber Physical Systems focused on Industry 4.0 applications.

Nowadays, technological progress has led to significant developments in the field of automation. This promoted the increase of plant productivity, the improvement of working conditions and product quality. One of the main factors of this type of industry is the localization system allowing machines and robots to move autonomously in a given work environment. The aim of this thesis is to develop and implement a localization system for a drone performing autonomous indoor navigation. To achieve this goal it is essential to use a well-known localization system, the Ultra-WideBand (UWB) technology, which has good accuracy and gives good stability to the navigation. Firstly, research has been made on the state of the art of Ultra-WideBand technology with its advantages over other localization systems. Furthermore, studies have been done on the standard using UWB technology and its progress over the years. Note that during the localization process, the positioning outputs are infected with some errors that can be bias errors or outliers, i.e., errors related to radio connectivity. For this reason, it is essential to realize a tool that improves the accuracy and stability of the whole system. Thus, after some analysis, a filter was carried out on Matlab simulation program and then translated into the Python language in order to optimize the system. The filtered systems have been simulated to check the characterization of the technology and possible problems related to it. Once good results were achieved in the simulation, a suitable configuration was built in a flight cage and some real-world tests performed to determine the successful implementation of the design localization system.