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Updated: Oct 20, 2025

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Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks.

Diego Benjumea1, Alfonso Alcántara1, Agustin Ramos1

  • 1GRVC Robotics Laboratory, University of Seville, 41004 Sevilla, Spain.

Sensors (Basel, Switzerland)
|September 10, 2021
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Summary

This study introduces a robust localization system for Unmanned Aerial Vehicles (UAVs) used in infrastructure inspection. It ensures accurate positioning and orientation, even with limited Global Navigation Satellite System (GNSS) signals.

Keywords:
Unmanned Aerial Vehiclesinfrastructure inspectionlocalization

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Area of Science:

  • Robotics
  • Navigation Systems
  • Aerospace Engineering

Background:

  • Infrastructure inspection requires reliable Unmanned Aerial Vehicle (UAV) navigation, often in challenging environments with poor Global Navigation Satellite System (GNSS) reception.
  • Existing localization systems may struggle with accuracy, reliability, and fault tolerance demands for high-altitude or Beyond Visual Line of Sight (BVLOS) operations.

Purpose of the Study:

  • To develop and validate a lightweight, high-accuracy localization system for UAVs in infrastructure inspection.
  • To provide full-state estimation (position, orientation, velocities) for UAVs operating in GNSS-denied or degraded environments.
  • To meet stringent requirements for defect traceability, accuracy, reliability, and fault tolerance in aerial inspection tasks.

Main Methods:

  • A novel system combining multiple stereo cameras with a robotic total station for sensor fusion.
  • Real-time, high-frequency alignment and fusion of measurements from stereo cameras and robotic total station.
  • Integration of the localization system into an aerial platform for practical deployment.

Main Results:

  • Demonstrated effective full-state estimation (position, orientation, velocities) in a fixed, time-persistent reference frame.
  • Successful high-frequency sensor measurement alignment and fusion.
  • Validated performance in a real-world viaduct inspection scenario with challenging GNSS conditions.

Conclusions:

  • The proposed lightweight localization system effectively addresses the challenges of UAV operation in infrastructure inspection.
  • The combined stereo camera and robotic total station approach provides accurate, reliable, and fault-tolerant navigation.
  • This system enables robust UAV deployment for critical infrastructure monitoring, even with limited GNSS availability.