Amazing stuff!
"That could come in handy for mapping and monitoring large indoor spaces like warehouses and tunnels, search and rescue operations, taking inventory and moving packages between stockroom shelves – all without the the need for human operators to have these drones in their line of sight.
The research team's MiFly system uses a type of high frequency radio waves called millimeter waves (mmWave) bounced between a low-power 'tag' (technically a backscatter anchor) stuck on a wall in the indoor space, and a couple of radars attached to the drone. ..."
"... 6DoF Pose Estimation:
Anchor measurements provide 3D estimates of the anchor relative to the radars, these estimates cannot be directly converted to the drone’s position due to ambiguity caused by the drone’s 6DoF (degrees of freedom) motion during flight.
By fusing mmWave radar data with the drone’s Inertial Measurement Unit (IMU), MiFly provides complete six degrees-of-freedom (6DoF) localization. ..."
Indoor Drones that can Fly in the Dark (project description) "MiFly is a self-localization system for drones that works indoors, including in the dark and low-visibility settings."
3D Self-Localization of Drones using a Single Millimeter-Wave Anchor (open access; 2023 preprint paper on regarding this project)
MiFly leverages dual-polarization dual-modulation to enable 3D localization
No comments:
Post a Comment