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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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A Review on UAS Trajectory Estimation Using Decentralized Multi-Sensor Systems Based on Robotic Total Stations.

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This review explores using robotic total stations (RTS) for precise trajectory estimation in unmanned aerial systems (UAS). Combining RTS with onboard sensors enables sub-centimeter accuracy, crucial for GNSS-denied environments.

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Area of Science:

  • Robotics
  • Geomatics Engineering
  • Aerospace Engineering

Background:

  • Robotic Total Stations (RTS) are vital for precise trajectory estimation where Global Navigation Satellite Systems (GNSS) are unreliable.
  • Unmanned Aerial Systems (UAS) trajectory estimation often relies on GNSS, but alternative methods are needed for accuracy and availability.
  • RTS are underutilized for UAS trajectory estimation despite their potential for high-precision positioning.

Purpose of the Study:

  • To conduct a thematic literature review on trajectory estimation for UAS using decentralized multi-sensor systems with RTS.
  • To explore the integration of RTS with UAS onboard sensors (IMU, laser scanning) for enhanced pose estimation.
  • To identify challenges and necessary advancements for achieving sub-centimeter accuracy in UAS trajectory estimation using RTS.

Main Methods:

  • Thematic literature review of existing research on RTS measurement processes.
  • Analysis of RTS integration with UAS onboard measurements (IMU, laser scanning).
  • Evaluation of RTS-based UAS pose estimation, including time synchronization, atmospheric refraction, prism interaction, and image evaluation.

Main Results:

  • Existing research often addresses individual components of RTS-based UAS trajectory estimation but lacks integration.
  • Achieving sub-centimeter and sub-0.01 gon accuracies requires combining UAS trajectory estimation and RTS calibration techniques.
  • Current RTS applications for UAS are limited in realistic kinematic scenarios (distance and speed).

Conclusions:

  • A comprehensive approach combining existing works on UAS trajectory estimation and RTS calibration is necessary for high-accuracy positioning.
  • Future research must address time synchronization for integrated camera imaging and validate simulation results with field tests.
  • Adapting existing integrated trajectory estimation methods to optimally incorporate RTS data is crucial for advancing UAS navigation.