Object Geolocalization Using Consumer-Grade Devices: Algorithms and Applications

In this article, we present advancements in object geolocalization, originally intended for humanitarian aid, specifically for the localization of reminiscences of war, but also applicable in ecology, e.g., estimating geolocations of observed wildlife. The research utilizes consumer-grade devices such as smartphones and drones, aiming to localize objects geometrically without laser range finders. The main contributions are three geolocalizationa lgorithms operating in a global coordinate system – Ray Marching, Ray Intersection, and Gradient Descent – each suited for different scenarios depending on the availability and nature of measurement data. We also discuss the limitations and sources of error, such as GNSS accuracy and magnetic disturbances, and suggest a method for error correction. The implemented software prototypes were tested using the Parrot ANAFI drone and an Apple iPhone 14 smartphone, with future work focusing on improving error correction and incorporating object detectors for enhanced real-time geolocalization capabilities.