Performance Bounds in Positioning with the VIVE Lighthouse System

    •  Greiff, M., Robertsson, A., Berntorp, K., "Performance Bounds in Positioning with the VIVE Lighthouse System", International Conference on Information Fusion (FUSION), July 2019, pp. 1-8.
      BibTeX TR2019-068 PDF
      • @inproceedings{Greiff2019jul,
      • author = {Greiff, Marcus and Robertsson, Anders and Berntorp, Karl},
      • title = {Performance Bounds in Positioning with the VIVE Lighthouse System},
      • booktitle = {International Conference on Information Fusion (FUSION)},
      • year = 2019,
      • pages = {1--8},
      • month = jul,
      • isbn = {978-0-9964527-8-6},
      • url = {}
      • }
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  • Research Areas:

    Computational Sensing, Control, Signal Processing


The VIVE lighthouse system is evaluated for indoor positioning of micro unmanned aerial vehicles (MUAVs). A detailed mathematical analysis is provided, including a CramerRao bound derivation and performance analysis of the MUAV state estimate. The lighthouse measurements are fused with inertial measurements in a multiplicative extended Kalman filter (MEKF). We consider two implementations, one with and the other without nonlinear LS pre-filtering, and demonstrate both in a real-time implementation. The results indicate that subcentimeter accuracy in the MUAV positioning, rivalling the best positioning systems on the market at a comparatively low price.