Aerial localization of wireless targets: Theory and implementation.
详细信息
文摘
This article focuses on discussing how to do aerial localization of wireless devices with Unmanned Aerial Vehicle UAV) system and smart phones. This article is composed of two parts: First,we present a fully functional and highly portable mini UAV system,HAWK-X6,for conducting aerial localization. HAWK-X6 is a programmable mini helicopter - Draganflyer X6 - armed with a wireless sniffer - Nokia N900. We developed custom PI-Control laws to implement a robust waypoint algorithm for the mini helicopter to fly a planned route. A Moore space filling curve is designed as a flight route for HAWK-X6 to survey a specific area. A set of theorems were derived to calculate the minimum Moore curve level for sensing all targets in the area with minimum flight distance. With such a flight strategy,we can confine the location of a target of interest to a small hot area. We can recursively apply the Moore curve based flight route to the hot area for a fine-grained localization of a target of interest. Therefore,HAWK-X6 does not rely on a positioning infrastructure for localization. We have conducted extensive experiments to validate the feasibility of HAWK-X6 and our theory. A demo of HAWK-X6 in autonomous fly is available at http://www.youtubc.com/watch?v＝ju86xnHbEct0. Second,we introduce another version of mini UAV system,HAWK-AR.Drone,and use it to do 3D tomography of wireless devices in a building. HAWK-AR.Drone does areal localization with a parrot AR.Drone and an Android phone. In order to enable AR.Drone to fly according to a list of waypoints,we extended the GPS functionality on AR.Drone. We implemented the control program for controlling AR.Drones movement and automatical aerial surveillance. We also converted an android phone into a wireless sniffer to collect the wireless traffic. Further,three additional localization approaches,gradient approach,model approach and contour approach,are presented.