## 4 Experimental Methods and Results
### Experimental Results
\begin{table}
\begin{tabular}{c c c c c c c c c c c c c} \hline \hline  & \multicolumn{3}{c}{**0 cm**} & \multicolumn{3}{c}{**5 cm**} & \multicolumn{3}{c}{**10 cm**} \\ \cline{2-13}  & \multicolumn{3}{c}{**0 deg**} & \multicolumn{3}{c}{**0 deg**} & \multicolumn{3}{c}{**0 deg**} & \multicolumn{3}{c}{**0 deg**} \\ \cline{2-13}  & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} \\ \cline{2-13}  & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** \\ \hline \(\varphi\) & 0.107 & 0.086 & 0.05 & 0.04 & 0.372 & 0.225 & 0.142 & 0.095 & 0.401 & 0.226 & 0.153 & 0.125 \\ \(\theta\) & 0.155 & 0.076 & 0.056 & 0.049 & 0.163 & 0.137 & 0.065 & 0.049 & 0.237 & 0.205 & 0.115 & 0.092 \\ \(\psi\) & 0.124 & 0.06 & 0.101 & 0.058 & 0.22 & 0.138 & 0.055 & 0.04 & 0.222 & 0.163 & 0.059 & 0.04 \\ \hline \hline \multicolumn{13}{c}{**0 cm**} & \multicolumn{3}{c}{**0 cm**} & \multicolumn{3}{c}{**0 cm**} & \multicolumn{3}{c}{**0 cm**} \\ \cline{2-13}  & \multicolumn{3}{c}{**30 deg**} & \multicolumn{3}{c}{**45 deg**} & \multicolumn{3}{c}{**60 deg**} \\ \cline{2-13}  & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} & \multicolumn{3}{c}{**Single**} & \multicolumn{3}{c}{**Multiple**} \\ \cline{2-13}  & \multicolumn{3}{c}{**Mean**} & **Std** & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** & **Mean** & **Std** \\ \hline \(\varphi\) & 0.277 & 0.332 & 0.15 & 0.128 & 0.29 & 0.185 & 0.161 & 0.12 & 0.762 & 2.162 & 0.188 & 0.137 \\ \(\theta\) & 0.13 & 0.076 & 0.068 & 0.048 & 0.099 & 0.107 & 0.094 & 0.064 & 0.188 & 0.139 & 0.091 & 0.085 \\ \(\psi\) & 0.111 & 0.088 & 0.047 & 0.034 & 0.113 & 0.073 & 0.093 & 0.07 & 0.295 & 0.201 & 0.236 & 0.136 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Mean and standard deviation of orientation error measured with fixed camera. Figure 6: Pose error measured with fixed camera tilted 60 degrees relative to marker plane. Red and blue represent experimental results using single marker and multiple markers. (**a**) Position error along x-axis, (**b**) Position error along y-axis, (**c**) Position error along z-axis, (**d**) Roll error, (**e**) Pitch error, (**f**) Yaw error. The pose estimation using multiple markers demonstrated superior precision across most drone poses, with consistently lower standard deviations in both position and orientation estimates. Table 3 provides detailed numerical values of standard deviations. Figure 8 illustrates pose estimation results in which the drone hovered at a target position 0 cm, 5 cm, and 100 cm from the representative marker along the x-, y-, and z-axes. In Figure 8, red lines and blue lines show the pose estimation results using a single marker and multiple markers, respectively. The temporal evolution demonstrates that pose estimation with a single marker had considerable oscillations when compared with pose estimation with multiple markers. The significant fluctuations in the graph are highlighted by the red boxes. The pose estimation results using multiple markers show lower standard deviations and higher precision. These results consistently demonstrate that the pose estimation using multiple markers provides more reliable and precise estimation results compared with the pose estimation using a single marker in experiments with both a fixed camera and a drone-mounted camera.