On the Accuracy of Localizing Terrestrial Objects using Drones
Unmanned Aerial Vehicles (UAVs) have enormous potentials for several important applications, such as search and rescue and structural health monitoring. An important requirement for these applications is the ability to accurately localize objects, such as sensors or ''smart-things'', equipped with wireless communication capability. However, most previous works in this area neglect the unavoidable errors that are involved in the localization process, thus resulting in poor performance in practice. In this paper, for the first time, we express the measurement error on the ground as a function of the rolling, altitude, and instrumental precision provided by the hardware on the drone. We takeaway two lessons from this analysis: to limit the ground error (i) all the waypoints used to measure the same node must be at a sufficiently large ground distance from the node itself, and (ii) they must not be collinear among themselves nor with the node. We validate the error expressions derived analytically through real experiments using the 3DR Solo Drone.
F. B. Sorbelli et al., "On the Accuracy of Localizing Terrestrial Objects using Drones," Proceedings of the 2018 IEEE International Conference on Communications (2018, Kansas City, MO), Institute of Electrical and Electronics Engineers (IEEE), May 2018.
The definitive version is available at https://doi.org/10.1109/ICC.2018.8422375
2018 IEEE International Conference on Communications, ICC 2018 (2018: May 20-24, Kansas City, MO)
Intelligent Systems Center
Keywords and Phrases
Antennas; Errors; Structural health monitoring; Wireless telecommunication systems; Error expressions; Poor performance; Search and rescue; Waypoints; Wireless communication capabilities; Drones
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