A Review on UAS Trajectory Estimation Using Decentralized Multi-Sensor Systems Based on Robotic Total Stations

In our contribution, we conduct a thematic literature review on trajectory estimation using a decentralized multi-sensor system based on robotic total stations (RTS) with a focus on unmanned aerial system (UAS) platforms. While RTS are commonly used for trajectory estimation in areas where GNSS is n...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Vol. 25; no. 13; p. 3838
Main Authors: Dammert, Lucas, Thalmann, Tomas, Monetti, David, Neuner, Hans-Berndt, Mandlburger, Gottfried
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 20.06.2025
MDPI
Subjects:
6-DoF trajectory estimation
Accuracy
Automation
Cameras
Comparative analysis
Drone aircraft
Electronic data processing
image-assisted total station
Inertial measurement units
Investigations
Kinematics
Lasers
Remote sensing
Review
Robotics
sensor synchronization
Sensors
Technology application
UAV
Austria
sensor synchronization
image-assisted total station
6-DoF trajectory estimation
UAV
ISSN:1424-8220, 1424-8220
Online Access:Get full text
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Summary:In our contribution, we conduct a thematic literature review on trajectory estimation using a decentralized multi-sensor system based on robotic total stations (RTS) with a focus on unmanned aerial system (UAS) platforms. While RTS are commonly used for trajectory estimation in areas where GNSS is not sufficiently accurate or is unavailable, they are rarely used for UAS trajectory estimation. Extending the RTS with integrated camera images allows for UAS pose estimation (position and orientation). We review existing research on the entire RTS measurement processes, including time synchronization, atmospheric refraction, prism interaction, and RTS-based image evaluation. Additionally, we focus on integrated trajectory estimation using UAS onboard measurements such as IMU and laser scanning data. Although many existing articles address individual steps of the decentralized multi-sensor system, we demonstrate that a combination of existing works related to UAS trajectory estimation and RTS calibration is needed to allow for trajectory estimation at sub-cm and sub-0.01 gon accuracies, and we identify the challenges that must be addressed. Investigations into the use of RTS for kinematic tasks must be extended to realistic distances (approx. 300–500 m) and speeds (>2.5 m s−1). In particular, image acquisition with the integrated camera must be extended by a time synchronization approach. As to the estimation of UAS orientation based on RTS camera images, the results of initial simulation studies must be validated by field tests, and existing approaches for integrated trajectory estimation must be adapted to optimally integrate RTS data.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s25133838