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I'm trying to find a way where I can estimate the location of my drone on a floorplan. Note that right now, I will just be moving the drone around manually and not flying it.

I read up on PDR and what I want to do is this: Provide an initial location of my drone on the floorplan, and as I move the drone around, using information from the IMU/accelerometers, I want to update the position of my drone on the floorplan.

I've worked with ROS a bit and I want to know if there are packages in ROS that could do this. For now, I'm looking for rough estimates and not perfect solutions.

Thanks!

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closed as primarily opinion-based by Mark Booth Sep 26 '16 at 10:42

Many good questions generate some degree of opinion based on expert experience, but answers to this question will tend to be almost entirely based on opinions, rather than facts, references, or specific expertise. If this question can be reworded to fit the rules in the help center, please edit the question.

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using information from the IMU/accelerometers

These sensors will accumulate error and will not provide a good estimate of the position of the drone after some time.

What you need is some absolute reference point. You need to make some kind of connection between the sensor data and the surrounding area that you are trying to localise yourself in. Check out , which is the general term used for this kind of stuff. If you know the environment and already have a map, the task simplifies to , but a few of the things from slam might still apply.

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  • $\begingroup$ For an initial exploratory step, I am okay with the drift accumulation. I just want to see my position updates on a given floorplan, no matter how erroneous it seems. Is there some sort of ROS package that helps me do this? $\endgroup$ – ReiJin ThunderKeg Sep 24 '16 at 11:04

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