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AIM: Acoustic Inertial Measurement for Indoor Drone Localization and Tracking

Authors:

Yuan HeAuthors Info & Claims

SenSys '22: Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems

Pages 476 - 488

https://doi.org/10.1145/3560905.3568499

Published: 24 January 2023 Publication History

Abstract

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments, existing approaches enjoy limited applicability, especially in Non-Line of Sight (NLoS), require extensive environment instrumentation, or demand considerable hardware/software changes on drones. In contrast, AIM exploits the acoustic characteristics of the drones to estimate their location and derive their motion, even in NLoS settings. We tame location estimation errors using a dedicated Kalman filter and the Interquartile Range rule (IQR). We implement AIM using an off-the-shelf microphone array and evaluate its performance with a commercial drone under varied settings. Results indicate that the mean localization error of AIM is 46% lower than commercial UWB-based systems in complex indoor scenarios, where state-of-the-art infrared systems would not even work because of NLoS settings. We further demonstrate that AIM can be extended to support indoor spaces with arbitrary ranges and layouts without loss of accuracy by deploying distributed microphone arrays.

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Cited By

Abdelnasser HHeggo MPang OKovac MMcCann J(2024)RaDro: Indoor Drone Tracking Using Millimeter Wave RadarProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36785498:3(1-23)Online publication date: 9-Sep-2024
https://dl.acm.org/doi/10.1145/3678549
Sharma SLica RPrasad VMottola LAmbroziak LShu YLiu JTan RHe YChen J(2024)Acoustic Side-Channel Communications for Aerial Drones with HUMProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699337(267-280)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699337
Su YZhang FNiu KWang TJin BWang ZJiang YZhang DQiu LXiong J(2024)Embracing Distributed Acoustic Sensing in Car Cabin for Children Presence DetectionProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36435488:1(1-28)Online publication date: 6-Mar-2024
https://dl.acm.org/doi/10.1145/3643548
Show More Cited By

Index Terms

AIM: Acoustic Inertial Measurement for Indoor Drone Localization and Tracking
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Embedded systems
2. Information systems
  1. Information systems applications
    1. Spatial-temporal systems
      1. Location based services

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Information & Contributors

Information

Published In

cover image ACM Conferences

SenSys '22: Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems

November 2022

1280 pages

ISBN:9781450398862

DOI:10.1145/3560905

General Chairs:
Jeremy Gummeson
University of Massachusetts Amherst
,
Sunghoon Ivan Lee
University of Massachusetts Amherst
,
Program Chairs:
Jie Gao
Rutgers University
,
Guoliang Xing
The Chinese University of Hong Kong

Copyright © 2022 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 24 January 2023

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Research-article

Funding Sources

the Digital Futures programme (project Drone Arena)
Swedish Science Foundation (SSF)
Swedish Research Council
KAW project UPDATE
Shanxi Provincial Department of Science and Technology
National Science Fund of China

Conference

SenSys '22

Sponsor:

SenSys '22: The 20th ACM Conference on Embedded Networked Sensor Systems

November 6 - 9, 2022

Massachusetts, Boston

Acceptance Rates

SenSys '22 Paper Acceptance Rate 52 of 187 submissions, 28%;

Overall Acceptance Rate 174 of 867 submissions, 20%

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Cited By

Abdelnasser HHeggo MPang OKovac MMcCann J(2024)RaDro: Indoor Drone Tracking Using Millimeter Wave RadarProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36785498:3(1-23)Online publication date: 9-Sep-2024
https://dl.acm.org/doi/10.1145/3678549
Sharma SLica RPrasad VMottola LAmbroziak LShu YLiu JTan RHe YChen J(2024)Acoustic Side-Channel Communications for Aerial Drones with HUMProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699337(267-280)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699337
Su YZhang FNiu KWang TJin BWang ZJiang YZhang DQiu LXiong J(2024)Embracing Distributed Acoustic Sensing in Car Cabin for Children Presence DetectionProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36435488:1(1-28)Online publication date: 6-Mar-2024
https://dl.acm.org/doi/10.1145/3643548
Abdelnasser HMcCann J(2024)Drone Propeller Speed Measurement: Case Study Using 5GHz RF and mmWave Radar2024 IEEE 99th Vehicular Technology Conference (VTC2024-Spring)10.1109/VTC2024-Spring62846.2024.10683414(1-6)Online publication date: 24-Jun-2024
https://doi.org/10.1109/VTC2024-Spring62846.2024.10683414
Sun YWang WMottola LZhang JWang RHe Y(2024)Indoor Drone Localization and Tracking Based on Acoustic Inertial MeasurementIEEE Transactions on Mobile Computing10.1109/TMC.2023.333586023:6(7537-7551)Online publication date: Jun-2024
https://doi.org/10.1109/TMC.2023.3335860
Chen YGuo JSun YYao HLiu YHe Y(2024)ElaSe: Enabling Real-time Elastic Sensing Resource Scheduling in 5G vRAN2024 IEEE/ACM 32nd International Symposium on Quality of Service (IWQoS)10.1109/IWQoS61813.2024.10682934(1-10)Online publication date: 19-Jun-2024
https://doi.org/10.1109/IWQoS61813.2024.10682934
Wang HXu JZhao CLu ZCheng YChen XZhang XLiu YChen X(2024)TransformLoc: Transforming MAVs into Mobile Localization Infrastructures in Heterogeneous SwarmsIEEE INFOCOM 2024 - IEEE Conference on Computer Communications10.1109/INFOCOM52122.2024.10621375(1101-1110)Online publication date: 20-May-2024
https://doi.org/10.1109/INFOCOM52122.2024.10621375
Zou YNa XGuo XSun YHe Y(2024)Trident: Interference Avoidance in Multi-reader Backscatter Network via Frequency-space DivisionIEEE INFOCOM 2024 - IEEE Conference on Computer Communications10.1109/INFOCOM52122.2024.10621258(1761-1770)Online publication date: 20-May-2024
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Wang WHe YJin MSun YGuo XCosta XAl Hassanieh HAsadi ACox LPerino DWidmer JGiustiniano D(2023)Meta-Speaker: Acoustic Source Projection by Exploiting Air NonlinearityProceedings of the 29th Annual International Conference on Mobile Computing and Networking10.1145/3570361.3613279(1-15)Online publication date: 2-Oct-2023
https://dl.acm.org/doi/10.1145/3570361.3613279
Zhang JNa XXi RSun YHe Y(2023)mmHawkeye: Passive UAV Detection with a COTS mmWave Radar2023 20th Annual IEEE International Conference on Sensing, Communication, and Networking (SECON)10.1109/SECON58729.2023.10287526(267-275)Online publication date: 11-Sep-2023
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