3D Self-Localization of Drones using a Single Millimeter-Wave Anchor

We present the design, implementation, and evaluation of MiFly, a self-localization system for autonomous drones that works across indoor and outdoor environments, including low-visibility, dark, and GPS-denied settings. MiFly performs 6DoF self-localization by leveraging a single millimeter-wave (mmWave) anchor in its vicinity- even if that anchor is visually occluded. MmWave signals are used in radar and 5G systems and can operate in the dark and through occlusions. MiFly introduces a new mmWave anchor design and mounts light-weight high-resolution mmWave radars on a drone. By jointly designing the localization algorithms and the novel low-power mmWave anchor hardware (including its polarization and modulation), the drone is capable of highspeed 3D localization. Furthermore, by intelligently fusing the location estimates from its mmWave radars and its IMUs, it can accurately and robustly track its 6DoF trajectory We implemented and evaluated MiFly on a DJI drone. We demonstrate a median localization error of 7cm and a 90th percentile less than 15cm, even when the anchor is fully occluded (visually) from the drone.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2024

Author dc:creator

• Lam, Maisy Lilian

Advisor dc:contributor.advisor

• Adib, Fadel

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/153836

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/153836