A target geolocation method using laser trilateration under ECEF frame with atmospheric refraction correction

Target geolocation using UAVs is crucial for search and rescue missions. A method based on laser trilateration using the EO/IR pod on a UAV is proposed, with no deed for accurate camera orientation and reference maps that methods like aerial triangulation require. The target geolocation model is established using least square optimization, with additional steps to reduce errors, including 1) atmospheric refraction correction; 2) Earth Centered Earth Fixed (ECEF) frame usage to avoid length distortion introduced by map projection. Experimental validation at 15,000 m distance shows a 5.8 m geolocation error, offering a reliable and efficient alternative to existing methods.