AIM: 音響慣性計測による屋内ドローン測位と追跡
AIM: Acoustic Inertial Measurement for Indoor Drone Localization and Tracking
ドローンの音響特性を利用し、GPSのない屋内や見通し外環境でも高精度に位置推定・追跡する手法を提案。市販マイクアレイで実装し、UWBより誤差を46%低減した。
著者: Yimiao Sun, Weiguo Wang, Luca Mottola, Ruijin Wang, Yuan He
分類: cs.RO, cs.SD, eess.AS
原文アブストラクト
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.
