IEEE Transactions on Vehicular Technology

Indoor drone or Unmanned Aerial Vehicle (UAV) operations, automated or with pilot control, are an upcoming and exciting subset of drone use cases. Automated indoor flights tighten the requirements of stability and localization accuracy in comparison with the classic outdoor use cases which rely primarily on (RTK) GNSS for localization. In this paper the effect of multiple sensors on 3D indoor position accuracy is investigated using the flexible sensor fusion platform OASE. This evaluation is based on real-life drone flights in an industrial lab with mm-accurate ground truth measurements provided by motion capture cameras, allowing the evaluation of the sensors based on their deviation from the ground truth in 2D and 3D. The sensors under consideration for this research are: IMU, sonar, SLAM camera, ArUco markers and Ultra-Wideband (UWB) positioning with up to 6 anchors. The paper demonstrates that using this setup, the achievable 2D (3D) indoor localization error varies between 4.4&#x00A0;cm and 21&#x00A0;cm (4.9&#x00A0;cm and 67.2&#x00A0;cm) depending on the selected set of sensors. Furthermore, cost/accuracy trade-offs are included to indicate the relative importance of different sensor combinations depending on the (engineering) budget and use case. These lab results were validated in a Proof of Concept deployment of an inventory scanning drone with more than 10 flight hours in a 65&#x00A0;000 m<sup>2</sup> warehouse. By combining lab results and real-life deployment experiences, different subsets of sensors are presented as a minimal viable solution for three different indoor use cases considering accuracy and cost: a large drone with little weight- and cost restrictions, one or more medium sized drones, and a swarm of weight and cost restricted nano drones.

Indoor Drone Positioning: Accuracy and Cost Trade-Off for Sensor Fusion