Target coordinates calculation using GPS/inertial-aided sensors

Target Localization using small unmanned aerial vehicles (UAVs) has emerged in the recent decades as an effective and essential option in surveillance, military and other fields. Often, UAV holds a camera and with the aid of different sensors it can determine the target location. This research represents a mathematical method for calculating the distance between the UAV and the target using UAV coordinates and the tilt angle of the camera while posing to the target. Then, with knowing the heading of the UAV, it obtains the coordinates of the target. This proposed method assumes that the target altitude is known or estimated from previous background about the geographical nature of the field.