# Quantifying the Measurement Precision of a Commercial Ultrasonic Real-Time Location System for Camera Pose Estimation in Indoor Photogrammetry

## TL;DR

This study evaluates the precision of an ultrasonic indoor positioning system for photogrammetry, showing it can achieve millimeter-level accuracy.

## Contribution

The study establishes the measurement precision of an ultrasonic RTLS for photogrammetric camera pose estimation in indoor environments.

## Key findings

- 1 s observation windows achieve 3 mm position and 1° orientation precision.
- Per-axis position uncertainties are 1.6 mm, 1.7 mm, and 1.1 mm RMS.
- Orientation uncertainties are 0.08°, 0.09°, and 0.07° RMS per axis.

## Abstract

Photogrammetric reconstruction from indoor imagery requires either labor-intensive ground control points (GCPs) or positioning sensor integration. While global navigation satellite system technology revolutionized aerial photogrammetry by enabling direct georeferencing through integrated sensor orientation (ISO), indoor environments lack an equivalent positioning solution. Before indoor positioning systems can be adopted for photogrammetric applications, their fundamental measurement precision must be established. This study characterizes the repeatability and temporal stability of the ZeroKey Quantum real-time location system (RTLS) as a prerequisite to testing reconstruction accuracy when RTLS measurements provide camera pose constraints in photogrammetric bundle adjustment. Through systematic tripod-mounted observations across 30 test locations in a controlled laboratory environment, optimal data collection protocols were determined, temporal stability was investigated, and measurement precision was quantified. An automated position-based stationary detection algorithm using a 20 mm threshold successfully identified all 30 stationary periods for durations of 30 s or less. Optimal duration analysis revealed that 1 s observation windows achieve 3 mm position precision and 1° orientation precision after brief settling, enabling practical workflows with worst-case total collection time of 2.5 s per station. Per-axis uncertainties were quantified as 1.6 mm, 1.7 mm, and 1.1 mm root mean square (RMS) for position and 0.08°, 0.09°, and 0.07° RMS for orientation. These findings demonstrate that ultrasonic RTLS achieves millimeter-level position repeatability and sub-degree orientation repeatability, establishing the measurement precision necessary to justify subsequent accuracy testing through photogrammetric bundle adjustment.