UAV Indoor Object Tracking via Adaptive Aperture and Multi-Lateration
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Solution Overview
Problem
Existing object tracking systems using unmanned aerial vehicles (UAVs) face challenges in accurately localizing and tracking mobile objects, especially in indoor environments, due to non-uniform velocities and limited penetration capabilities of wireless communication technologies like UWB, which result in reduced accuracy and coverage.
Innovation Solution
A method and system that utilize multi-lateration and adaptive aperture techniques from a UAV to determine the initial location and velocity vector of a node, incorporating ultra-wide band (UWB) communication for precise localization and tracking, while addressing non-uniform velocities by dynamically adjusting the aperture and employing multi-hop localization for extended coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multi-lateration from UAV is used for localization, then localization accuracy is improved, but tracking reliability deteriorates when objects have non-uniform velocities
Solution Approach 1:
The system dynamically adjusts the aperture size based on detected turns and velocity vectors. When a turn is detected, the aperture is reset to address non-uniform velocity, maintaining tracking reliability while preserving localization accuracy through adaptive parameter adjustment.
Solution Approach 2:
The system changes the aperture parameter dynamically in response to detected turns and velocity variations. This parameter adaptation allows the system to maintain both high localization accuracy and tracking reliability under varying motion conditions.
2Device complexity
If fixed aperture is used for tracking, then device complexity is reduced, but localization accuracy deteriorates for objects with non-uniform velocities
Solution Approach 1:
The aperture transitions from a fixed parameter to a dynamic one that adjusts based on turn detection and velocity vector analysis. This dynamic adaptation maintains high localization accuracy for objects with non-uniform velocities while keeping the system relatively simple through rule-based adjustments.
3Measurement precision
If UWB technology is used for indoor localization, then localization precision is improved, but coverage deteriorates due to limited penetration capabilities
Solution Approach 1:
The system uses multi-hop localization with intermediate nodes to extend UWB coverage. These intermediate nodes act as mediators that relay localization data, allowing the system to maintain high precision localization throughout the indoor environment while overcoming the limited direct penetration capabilities of UWB signals.
4Reliability
If adaptive aperture is applied to address non-uniform velocity, then tracking reliability is improved, but device complexity increases
Solution Approach 1:
The system implements adaptive aperture adjustment through turn detection and velocity vector analysis. This dynamic approach improves tracking reliability for objects with non-uniform velocities while managing complexity through focused sensing and rule-based adaptation rather than full system reconfiguration.
Data Source
AI summary
Systems and methods for localizing and tracking mobile objects are provided. The method includes determining an initial location of a node based on multi-lateration from an unmanned aerial vehicle and determining a velocity vector associated with the node based on multi-lateration. The method also includes detecting when the node turns. An adaptive aperture is applied to address a non-uniform velocity of the node based on the turn and the velocity vector.