MAV-based real-time localisation of terrestrial targets with cm-level accuracy: Feasibility study

We carry out a comprehensive feasibility study for a real-time cm-level localisation of a predefined terrestrial target from a MAV-based autonomous platform. Specifically, we conduct an error propagation analysis which quantifies all potential error sources, and accounts for their respective contribution to the final result. Furthermore, we provide a description of a practical MAV system using the available technology and of-the-shelf components. We demonstrate that, indeed, the desired localisation precision of a few centimetres may be realistically achieved under a set of necessary constraints.

Published in:
Proceedings of UAV-g 2011
Presented at:
UAV-g 2011 - Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland, September 14-16, 2011

 Record created 2011-09-21, last modified 2018-01-28

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