首页|UAV/RTS system based on MMCPF theory for fast and precise determination of position and orientation
UAV/RTS system based on MMCPF theory for fast and precise determination of position and orientation
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NSTL
Elsevier
We have developed a system to determine the position and orientation fast and precisely, by the collaboration measurement of an Unmanned Aerial Vehicle (UAV) and two Robotic Total Stations (RTSs). One RTS is set on the control point, and another is set on the undetermined point. All devices are connected to the control terminal through a wireless network, so that the two RTSs can perform synchronous tracking measurements towards the same 360 degrees prism mounted on the UAV. With an algorithm developed based on the theory of Massive Moving Control Points for Free-stationing (MMCPF), high-accuracy position and orientation can be determined in a onestop mode within several minutes. Results of the simulation experiment and the field experiment validated the feasibility of our system, showing a positioning accuracy of millimetre level and orientation accuracy of angularsecond level. The newly proposed methodology can be applied for limited direct sight conditions and poor GNSS observation environments, especially for under-construction civil engineerings, such as high-rise buildings, dams, railways, and bridges.
Robotic total stationUnmanned aerial vehiclePosition and orientationGPS
NSTL
Elsevier
