MAV-BASED REAL-TIME LOCALIZATION OF TERRESTRIAL TARGETS WITH CM-LEVEL ACCURACY: FEASIBILITY STUDY
Keywords: UAVs, MAVs, Photogrammetry, Sensor Orientation, Direct Georeferencing
Abstract. 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.