Performance Bounds in Positioning with the VIVE Lighthouse System
(2019) 22th International Conference on Information Fusion (FUSION)- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8234ac82-c0fd-4ee2-be92-82e265bd6a48
- author
- Greiff, Marcus LU ; Robertsson, Anders LU and Berntorp, Karl
- organization
- publishing date
- 2019-07-11
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- International Conference on Information Fusion (FUSION)
- pages
- 8 pages
- conference name
- 22th International Conference on Information Fusion (FUSION)
- conference location
- Ottawa, Canada
- conference dates
- 2019-07-02 - 2019-07-05
- external identifiers
-
- scopus:85081788337
- ISBN
- 978-0-9964527-8-6
- project
- Semantic Mapping and Visual Navigation for Smart Robots
- language
- English
- LU publication?
- yes
- id
- 8234ac82-c0fd-4ee2-be92-82e265bd6a48
- alternative location
- https://ieeexplore.ieee.org/document/9011242
- date added to LUP
- 2020-03-24 01:47:49
- date last changed
- 2022-05-12 01:17:27
@inproceedings{8234ac82-c0fd-4ee2-be92-82e265bd6a48, 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.}}, author = {{Greiff, Marcus and Robertsson, Anders and Berntorp, Karl}}, booktitle = {{International Conference on Information Fusion (FUSION)}}, isbn = {{978-0-9964527-8-6}}, language = {{eng}}, month = {{07}}, title = {{Performance Bounds in Positioning with the VIVE Lighthouse System}}, url = {{https://ieeexplore.ieee.org/document/9011242}}, year = {{2019}}, }