Drone localisation

This tutorial section focuse on all the existing localisation systems with a tutorial for each system.

It will helps you to choose yours and finally fuse them through MSF with the IMU (Multi Sensor Fusion).

Pose Sensor (6DOF, 4DOF)

• Fixed lasers (at least 6 lasers):
  • Price: 750$
  • Precision: +/- 5cm
  • Range: 25m
  • Rate: 100Hz
  • 4 DOF
• 3D Rotating laser (Velodyne):
  • Price: 7500$
  • Precision: +/- 2cm
  • Range: 300m
  • Rate : 20M points/s
  • 3,4 DOF
• Camera - Computer vision algorithms:
  • Price: 350$
  • Precision: +/- 2cm
  • Range: 300m
  • Rate: 100Hz
  • 3,4,6 DOF
• VICON and MOCAP systems:
  • Price: 60k$ to 120k$
  • Precision: +/- 2cm
  • Range: 10x10x10m
  • Rate: 20Hz
  • 6 DOF

Position Sensors (3DOF)

• GPS:
  • Price: 20$ to 60$
  • Precision: +/- 5m
  • Range: Earth
  • Rate: 1Hz
• D-GPS:
  • Price: 20$ to 60$
  • Precision: +/- 20cm
  • Range: Earth with stationnary satellite available
  • Rate: 1Hz
  • Additionnal: Random drift, bad repetability
• RTK:
  • Price: 300$ (ublox), 2k$ (Piksi) to 5k$ (others)
  • Precision: +/- 2cm when fixed
  • Range: Earth on clear space (30° of the antenna)
  • Rate: 25Hz
  • Additionnal: Have to wait the "fix" RTK, needs a base station (pretty small)
  • 4DOF with 2 receptors
• UWB (Ultrawide band, Decawave, Pozyx.io)
  • Price: 500$
  • Precision: +/- 10cm
  • Range: 100m
  • Rate: 20Hz
  • 4DOF with 2 receptors
• Ultrasound (marvelmind)
  • Price: 365$
  • Precision: +/- 10cm
  • Range: 50m
  • Rate: 20Hz
  • 4DOF with 2 receptors

Altitude Sensors (1DOF)

• Lasers:
  • Price: 150$
  • Precision: +/- 2cm
  • Range: 25m
  • Rate: 500Hz
• Ultrasonic:
  • Price: 2$
  • Precision: +/- 2cm
  • Range: 2m
  • Rate: 20Hz
• Pressure sensor:
  • Price: 5$
  • Precision: +/- 20 cm (need more info)
  • Range: Up to the troposphere, maybe more