Open AccessNon-Line-of-Sight Indoor Localization of Micro Air Vehicles Using First-Arrival Sound
Author(s) -
Lin Chi Mak,
Tomonari Furukawa
Publication year - 2010
Publication title -
international journal of micro air vehicles
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.324
H-Index - 21
eISSN - 1756-8307
pISSN - 1756-8293
DOI - 10.1260/1756-8293.2.4.221
Subject(s) - non line of sight propagation , computer science , robustness (evolution) , time of arrival , angle of arrival , microphone array , direction of arrival , microphone , real time computing , noise (video) , wireless , multilateration , acoustics , electronic engineering , computer vision , engineering , telecommunications , antenna (radio) , physics , sound pressure , gene , node (physics) , biochemistry , chemistry , image (mathematics)
This paper presents a technique and its system that localizes a rotary-wing Micro Air Vehicle (MAV) in indoor environments even under Non-Line-of-Sight (NLoS) conditions. The technique is based on the system with the MAV having a wireless microphone and a ground station having multiple microphones. The technique identifies the location of the MAV in two-dimensional space by measuring the Time-of-Arrival (ToA) of acoustic signals caused by the rotation of blades at the MAV. The technique then applies an iterative algorithm that corrects the NLoS errors and computes the true ToA based on maps of known indoor environments in a computationally inexpensive manner. To suppress noise in the received signals and thus improve the robustness of ToA estimation, the generalized cross-correlation with phase transform and a bandpass filter is derived and applied. The performance of the proposed technique was examined experimentally by its comparison with three existing ToA-based localization techniques. Experimental results show the superiority of the proposed technique, demonstrating its potential for aiding indoor MAVs in autonomous navigation.