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MicNest: Long-Range Instant Acoustic Localization of Drones in Precise Landing

Authors:

Yulei WangAuthors Info & Claims

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

Pages 504 - 517

https://doi.org/10.1145/3560905.3568515

Published: 24 January 2023 Publication History

Abstract

We present MicNest: an acoustic localization system enabling precise landing of aerial drones. Drone landing is a crucial step in a drone's operation, especially as high-bandwidth wireless networks, such as 5G, enable beyond-line-of-sight operation in a shared airspace and applications such as instant asset delivery with drones gain traction. 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 while airborne; iii) as location information is to be 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 real-world experiments show that MicNest is able to localize a drone 120 m away with 0.53% relative localization error at 20 Hz location update frequency.

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Cited By

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
Zhu YLiu MChen YSun SLi Z(2024)SkyOrbs: A Fast 3-D Directional Neighbor Discovery Algorithm for UAV NetworksIEEE Transactions on Mobile Computing10.1109/TMC.2024.345199123:12(14768-14786)Online publication date: Dec-2024
https://doi.org/10.1109/TMC.2024.3451991
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
Show More Cited By

Index Terms

MicNest: Long-Range Instant Acoustic Localization of Drones in Precise Landing
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

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

Swedish Science Foundation (SSF)
National Science Fund of China
Tsinghua University - Meituan Joint Institute for Digital Life
Swedish Research Council
Digital Futures programme (project Drone Arena)
KAW project UPDATE

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SenSys '22

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

November 6 - 9, 2022

Massachusetts, Boston

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

Overall Acceptance Rate 198 of 990 submissions, 20%

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Cited By

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
Zhu YLiu MChen YSun SLi Z(2024)SkyOrbs: A Fast 3-D Directional Neighbor Discovery Algorithm for UAV NetworksIEEE Transactions on Mobile Computing10.1109/TMC.2024.345199123:12(14768-14786)Online publication date: Dec-2024
https://doi.org/10.1109/TMC.2024.3451991
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
He YWang WMottola LLi SSun YLi JJing HWang TWang Y(2024)Acoustic Localization System for Precise Drone LandingIEEE Transactions on Mobile Computing10.1109/TMC.2023.328829923:5(4126-4144)Online publication date: May-2024
https://doi.org/10.1109/TMC.2023.3288299
Onishi YWatanabe HNakamura MHashizume HSugimoto M(2024)Indoor Drone 3-D Tracking Using Reflected Light From Floor SurfacesIEEE Journal of Indoor and Seamless Positioning and Navigation10.1109/JISPIN.2024.34537752(251-262)Online publication date: 2024
https://doi.org/10.1109/JISPIN.2024.3453775
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
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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
https://doi.org/10.1109/INFOCOM52122.2024.10621258
Cai GWang J(2024)ATP: Acoustic Tracking and Positioning under Multipath and Doppler EffectIEEE INFOCOM 2024 - IEEE Conference on Computer Communications10.1109/INFOCOM52122.2024.10621165(1841-1850)Online publication date: 20-May-2024
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Arrigoni VAttenni GBartolini NFinelli M(2024)Energy-aware UAV Parcel Delivery Assignment2024 7th International Balkan Conference on Communications and Networking (BalkanCom)10.1109/BalkanCom61808.2024.10557193(290-295)Online publication date: 3-Jun-2024
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