1. Terminology

1.1 Spatio-temporal localization

Location sensors can be used to obtain the spatial position, at a given moment, of a moving reference point in space, relative to a fixed reference point. Several techniques exist, some of which have the advantage of being more robust or more precise than others, or less invasive for the user. The aim of this article is to present these different techniques and guide the reader in his choice.

The positioning of a moving reference frame is perfectly determined if the system can measure all six degrees of freedom of the frame. These parameters are defined by the geometric transformation matrix between this moving frame of reference and the fixed reference frame linked to the environment. This transformation is made up of rotation...