Performance Bounds in Positioning with the VIVE Lighthouse System

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

Abstract

The VIVE lighthouse system is evaluated for indoor positioning of micro unmanned aerialcvehicles (MUAVs). A detailed mathematical analysis is provided, including a Cramer-Raocbound derivation and performance analysis of the MUAV state estimate. The lighthousecmeasurements are fused with inertial measurements in a multiplicative extended Kalmanfilter (MEKF). We consider two implementations, one with and the other without nonlinearcLS pre-filtering, and demonstrate both in a real-time implementation. The results indicatecthat subcentimeter accuracy in the MUAV positioning, rivalling the best positioning systems on the market at a comparatively low price.

Detaljer

Författare
Enheter & grupper
Externa organisationer
  • Mitsubishi Electric Research Laboratory
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik
Originalspråkengelska
Titel på värdpublikationInternational Conference on Information Fusion (FUSION)
Antal sidor8
ISBN (elektroniskt)978-0-9964527-8-6
StatusPublished - 2019 jul 11
PublikationskategoriForskning
Peer review utfördJa
Evenemang22th International Conference on Information Fusion (FUSION) - Ottawa, Kanada
Varaktighet: 2019 jul 22019 jul 5
https://www.fusion2019.org/

Konferens

Konferens22th International Conference on Information Fusion (FUSION)
LandKanada
OrtOttawa
Period2019/07/022019/07/05
Internetadress

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