Julien Marzat
A Low-Cost System for Indoor Motion Tracking of
Unmanned Aerial Vehicles
7th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Adelaide, Australia
6-9 december 2011
This paper presents development and performance
analysis of an indoor low-cost motion tracking system for miniature
Unmanned Aerial Vehicles. The proposed system is based on
infrared markers embedded on the vehicle, the positions of which
are captured in real time by Wiimote infrared cameras. Using at
least two of these cameras, vehicle 3D position and orientation can
be determined. Implementation of system hardware architecture
developed as student research project in academic environment
is discussed with its own limitations. Estimation method is
presented. System performance analysis is also proposed, addressing
optimization of detection area, accuracy and dispersion
of measurements, and robustness with respect to outliers and
hardware parameters. Experimental results are provided to
illustrate system performance and to demonstrate satisfaction
of imposed strict constraints for reliable motion tracking of a
miniature UAV.
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