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