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Performance Bounds in Positioning with the VIVE Lighthouse System

Greiff, Marcus LU ; Robertsson, Anders LU and Berntorp, Karl (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:
author
; and
organization
publishing date
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}},
}