HiQuadLoc（PPT讲稿）An RSS-Based Indoor Localization System for High-Speed Quadrotors

会)上大 SHANGHAI JIAO TONG UNIVERSITY HiQuadLoc: An RSS-Based Indoor Localization System for High-Speed Quadrotors Tuo Yu*, Yang Zhang*, Siyang Liu*, Xiaohua Tian*, Xinbing Wang *, Songwu Lu Shanghai Jiao Tong University University of California at Los Angeles

HiQuadLoc: An RSS-Based Indoor Localization System for High-Speed Quadrotors 1 Tuo Yu*, Yang Zhang*, Siyang Liu*, Xiaohua Tian*, Xinbing Wang*, Songwu Lu** *Shanghai Jiao Tong University **University of California at Los Angeles

Outline 上通字 SHANGHAI JIAO TONG UNIVERSITY 口 Motivation 口 SystemArchitecture 口 Working Process a Localization Algorithm a Measurement and Evaluation 口 Conclusion

2 Outline ❑ Motivation ❑ System Architecture ❑ Working Process ❑ Localization Algorithm ❑ Measurement and Evaluation ❑ Conclusion 2

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY u In the field of indoor localization and navigation since GPS is not available how to locate fast-moving UAVs (Unmanned Aerial Vehicles)such as quadrotors is still a challenging topic Most of the previous works are based on vision or ultrasound detection

Motivation ❑ In the field of indoor localization and navigation, since GPS is not available, how to locate fast-moving UAVs (Unmanned Aerial Vehicles) such as quadrotors is still a challenging topic. ➢ Most of the previous works are based on vision or ultrasound detection. 3

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY OJ. Eckert,R, German and f dressler. On autonomous indoor flights: High-quality real-time localization using low- cost sensors, in IEEE ICC, pp. 7093-7098, Jun 2012

Motivation ❑ J. Eckert, R. German and F. Dressler, “On autonomous indoor flights: High-quality real-time localization using low￾cost sensors,” in IEEE ICC, pp. 7093-7098, Jun. 2012. 4

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY a F. Kendoul, I fantoni and K. nonami, " Optic flow-based vision system for autonomous 3d localization and control of small aerial vehicles. in robotics and autonomous Systems,vo.57(6),pp.591-602,2009 Mori amera lision syster MMP navigation sensor

Motivation ❑ F. Kendoul, I. Fantoni and K. Nonami, “Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles,” in Robotics and Autonomous Systems, vol. 57(6), pp. 591-602, 2009. 5

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY a In the field of indoor localization and navigation, since GPS is not available, how to locate fast-moving UAVS such as quadrotors is still a challenging topic Most of the previous works are based on vision or ultrasound detection U Additional infrastructures such as off-board sensors and cameras are still needed. which leads to extra cost and energy consumption We aim to apply the Wi-Fi fingerprint-based method, one of the most widely used technologies in indoor localization 6

Motivation ❑ In the field of indoor localization and navigation, since GPS is not available, how to locate fast-moving UAVs such as quadrotors is still a challenging topic. ➢ Most of the previous works are based on vision or ultrasound detection. ❑ Additional infrastructures such as off-board sensors and cameras are still needed, which leads to extra cost and energy consumption. ➢ We aim to apply the Wi-Fi fingerprint-based method, one of the most widely used technologies in indoor localization. 6

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY u The existing Wi-Fi RSS-based indoor localization systems cannot be directly applied to locate high-speed quadrotors for the following reasons O Flight speed impacts localization accuracy severely An RSS measurement will take at least 0. 1s to 1s, during which the quadrotors(35km/h)would have moved for 1m to 10m -T 「 L ⊥ L Measurement Localization Position result

Motivation ❑ The existing Wi-Fi RSS-based indoor localization systems cannot be directly applied to locate high-speed quadrotors for the following reasons: ① Flight speed impacts localization accuracy severely. ➢ An RSS measurement will take at least 0.1s to 1s, during which the quadrotors (35km/h) would have moved for 1m to 10m. 7 Localization result Measurement Position

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY @2 The workload of measuring all the Rss data in 3-D space is much higher than that in 2-d case Some technologies such as surface-based interpolation only record the average value of RSS at each calibration point, which loses the information included in the statistical features of Rss caused by the complex channel environment 频数直方图与正态分布密度函数(2m) ll

Motivation ② The workload of measuring all the RSS data in 3-D space is much higher than that in 2-D case. ➢ Some technologies such as surface-based interpolation only record the average value of RSS at each calibration point, which loses the information included in the statistical features of RSS caused by the complex channel environment. 8

Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY 口 We need to Estimate the real flight path of a quadrotor with the limited number of times for rss measurement Consider the reduction in accuracy caused by the communication delay between the quadrotor and the server; Estimate the probability distributions of Rss values at most cubes, instead of estimating the average values of rss at these cubes only

Motivation ❑ We need to: ➢ Estimate the real flight path of a quadrotor with the limited number of times for RSS measurement; ➢ Consider the reduction in accuracy caused by the communication delay between the quadrotor and the server; ➢ Estimate the probability distributions of RSS values at most cubes, instead of estimating the average values of RSS at these cubes only. 9

Outline 上通字 SHANGHAI JIAO TONG UNIVERSITY 口 Motivation 口 System Architecture 口 Working Process a Localization Algorithm a Measurement and Evaluation 口 Conclusion 10

10 Outline ❑ Motivation ❑ System Architecture ❑ Working Process ❑ Localization Algorithm ❑ Measurement and Evaluation ❑ Conclusion 10