MAV-BASED REAL-TIME LOCALIZATION OF TERRESTRIAL TARGETS WITH CM-LEVEL ACCURACY: FEASIBILITY STUDY

• Main Authors: Y. Akhtman, A. Garg, J. Skaloud
• Format: Article
• Language: English
• Published: Copernicus Publications 2012-09-01
• Series: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
• Online Access: http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-1-C22/235/2011/isprsarchives-XXXVIII-1-C22-235-2011.pdf

We carry out a comprehensive feasibility study for a real-time cm-level localization 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 localization precision of a few centimeters may be realistically achieved under a set of necessary constraints.