On the accuracy of localizing terrestrial objects using drones

Francesco Betti Sorbelli, Sajal K. Das, Cristina M. Pinotti, Simone Silvestri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations


Unmanned Aerial Vehicles (UAVs) have enormous potentials for several important applications, such as search and rescue and structural health monitoring. An important requirement for these applications is the ability to accurately localize objects, such as sensors or ''smart-things'', equipped with wireless communication capability. However, most previous works in this area neglect the unavoidable errors that are involved in the localization process, thus resulting in poor performance in practice. In this paper, for the first time, we express the measurement error on the ground as a function of the rolling, altitude, and instrumental precision provided by the hardware on the drone. We takeaway two lessons from this analysis: to limit the ground error (i) all the waypoints used to measure the same node must be at a sufficiently large ground distance from the node itself, and (ii) they must not be collinear among themselves nor with the node. We validate the error expressions derived analytically through real experiments using the 3DR Solo Drone.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Communications, ICC 2018 - Proceedings
StatePublished - Jul 27 2018
Event2018 IEEE International Conference on Communications, ICC 2018 - Kansas City, United States
Duration: May 20 2018May 24 2018

Publication series

NameIEEE International Conference on Communications
ISSN (Print)1550-3607


Conference2018 IEEE International Conference on Communications, ICC 2018
Country/TerritoryUnited States
CityKansas City

Bibliographical note

Funding Information:
The work has been partially supported by GEO-SAFE (H2020-691161), “RISE” Fondazione CR-PG (code 2016.0104.021), the NATO Science for Peace and Security grant G4936, and “GNCS - INdAM”.

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering


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