Acoustic Localization System for Precise Drone LandingShow others and affiliations
2024 (English)In: IEEE Transactions on Mobile Computing, Vol. 23, no 5, p. 4126-4144Article in journal (Refereed) Published
Abstract [en]
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.
Place, publisher, year, edition, pages
2024. Vol. 23, no 5, p. 4126-4144
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:ri:diva-69241DOI: 10.1109/tmc.2023.3288299OAI: oai:DiVA.org:ri-69241DiVA, id: diva2:1825293
Note
This work is partially supported by the National Science Fund of Chinaunder grant No. U21B2007, Tsinghua University - Meituan Joint Institutefor Digital Life, the Swedish Science Foundation (SSF), the Digital Futuresprogramme (project Drone Arena), the Swedish Research Council, and KAWproject UPDATE
2024-01-092024-01-092024-06-11Bibliographically approved