WBF-PS: WiGig Beam Fingerprinting for UAV Positioning System in GPS-denied Environments

Pei Yuan Hong, Chi-Yu Li, Hong Rong Chang, Yuan Hao Hsueh, Kuo-Chen Wang

研究成果: Conference contribution同行評審

7 引文 斯高帕斯(Scopus)

摘要

Unmanned aerial vehicles (UAVs) are being investigated to substitute for labor in many indoor applications, e.g., asset tracking and surveillance, where the global positioning system (GPS) is not available. Also, emerging autonomous UAVs are expected to land in indoor parking aprons automatically. Such GPS-denied environments require alternative non-GPS positioning methods. Although there have been some vision-based solutions for UAVs, they perform poorly in the scenes with bad illumination conditions or estimate only relative locations but not global positions. Other common indoor localization methods do not cover UAV factors, such as low power and flying behaviors. To this end, we propose a practical non-GPS positioning system for UAVs, named WBF-PS (WiGig Beam Fingerprinting based Positioning System), using low-power, off-the-shelf WiGig devices. We formulate a 3-dimensional beam fingerprint for the positioning by leveraging the diversity of available transmitter/receiver beams and the link quality. To augment the positioning accuracy, we not only use a weighted k-nearest neighbors algorithm to overcome partial fingerprint inaccuracy but also apply the particle filtering technique into considering the UAV motion. We prototype and evaluate WBF-PS on a UAV platform. The result shows that the positioning errors at the 90th percentile are below 1 m in various cases.

原文English
主出版物標題INFOCOM 2020 - IEEE Conference on Computer Communications
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1778-1787
頁數10
ISBN(電子)9781728164120
DOIs
出版狀態Published - 6 7月 2020
事件38th IEEE Conference on Computer Communications, INFOCOM 2020 - Toronto, Canada
持續時間: 6 7月 20209 7月 2020

出版系列

名字Proceedings - IEEE INFOCOM
2020-July
ISSN(列印)0743-166X

Conference

Conference38th IEEE Conference on Computer Communications, INFOCOM 2020
國家/地區Canada
城市Toronto
期間6/07/209/07/20

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