Localization with guaranteed bound on the position error using a drone

In this paper, we study the sensor localization problem using a drone. Our goal is to localize each sensor in the deploy- ment area ensuring a predefined localization precision, i.e., a bound on the position error, whatever is the drone's al- titude. We show how to guarantee a-priori the precision localization by satisfying few conditions. Such conditions are totally novel aspects that have not been considered in previous localization algorithms. In the new localization technique, we first determine the minimum ground distance that guarantees the predefined bound on the position error. According to that distance, a static path for the drone is designed. Then, the localization mission proceeds in two steps: Initially, the drone computes a rough estimation of the sensor position by using the first three distance measurements it can take greater than the minimum ground distance. Next the position is refined by employing three distance measurements that, in addition to the minimum ground distance, satisfy a specific geometric layout. In this way, the localization precision is guaranteed with just three measurements