Sökning: onr:"swepub:oai:DiVA.org:ri-69241" >
Acoustic Localizati...
Acoustic Localization System for Precise Drone Landing
-
- He, Yuan (författare)
- Tsinghua University, China
-
- Wang, Weiguo (författare)
- Tsinghua University, China
-
- Mottola, Luca, 1980- (författare)
- RISE,Datavetenskap,Politecnico di Milano, Italy; Uppsala University, Sweden
-
visa fler...
-
- Li, Shuai (författare)
- Tsinghua University, China
-
- Sun, Yimiao (författare)
- Tsinghua University, China
-
- Li, Jinming (författare)
- Tsinghua University, China
-
- Jing, Hua (författare)
- Meituan, China
-
- Wang, Ting (författare)
- Meituan, China
-
- Wang, Yulei (författare)
- Meituan, China
-
visa färre...
-
(creator_code:org_t)
- 2024
- 2024
- Engelska.
-
Ingår i: IEEE Transactions on Mobile Computing. ; 23:5, s. 4126-4144
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- We present MicNest: an acoustic localization system enabling precise drone landing. In MicNest, multiple microphones are deployed on a landing platform in carefully devised configurations. The drone carries a speaker transmitting purposefully-designed acoustic pulses. The drone may be localized as long as the pulses are correctly detected. Doing so is challenging: i) because of limited transmission power, propagation attenuation, background noise, and propeller interference, the Signal-to-Noise Ratio (SNR) of received pulses is intrinsically low; ii) the pulses experience non-linear Doppler distortion due to the physical drone dynamics; iii) as location information is used during landing, the processing latency must be reduced to effectively feed the flight control loop. To tackle these issues, we design a novel pulse detector, Matched Filter Tree (MFT), whose idea is to convert pulse detection to a tree search problem. We further present three practical methods to accelerate tree search jointly. Our experiments show that MicNest can localize a drone 120 m away with 0.53% relative localization error at 20 Hz location update frequency. For navigating drone landing, MicNest can achieve a success rate of 94 %. The average landing error (distance between landing point and target point) is only 4.3 cm.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas
- Av författaren/redakt...
-
He, Yuan
-
Wang, Weiguo
-
Mottola, Luca, 1 ...
-
Li, Shuai
-
Sun, Yimiao
-
Li, Jinming
-
visa fler...
-
Jing, Hua
-
Wang, Ting
-
Wang, Yulei
-
visa färre...
- Om ämnet
-
- NATURVETENSKAP
-
NATURVETENSKAP
-
och Data och informa ...
- Artiklar i publikationen
- IEEE Transaction ...
- Av lärosätet
-
RISE