用单个毫米波雷达实现高速动态标签的高精度三维定位。
DragonFly: Single mmWave Radar 3D Localization of Highly Dynamic Tags in GPS-Denied Environments
- 基于单雷达和回波标签，结合多普勒去模糊算法实现三维定位。
- 在50米范围内，速度达10米/秒、加速度4米/秒²时，定位误差中位数为12厘米。
- 功耗仅68微瓦，适合部署在无人机等移动设备上。
在无GPS的室内环境中，对设备、人员、车辆、无人机、机器人及其交互资产等动态目标进行精确的定位与跟踪，是下一代空间感知工业设施安全高效运行的关键。本文提出DragonFly，一种利用单个MIMO毫米波雷达实现高度动态回波标签三维定位的系统。该系统首次展示了毫米波回波系统如何借助MIMO雷达能力，在长距离、高速高加速条件下实现毫米级身份标签（mmID）的三维定位，核心创新在于引入关键的多普勒去模糊算法，并设计了一种全集成交叉极化介电透镜式毫米波标签，功耗仅为68微瓦。在静态与动态配置下广泛测试，包括在飞行四旋翼上验证，与多个基线对比，结果表明其可在高达50米的距离上，以约10米/秒的速度和4米/秒²的加速度，实现多个标签的三维位置跟踪，中位3D定位误差为12厘米。
原文摘要 · Abstract (English)
The accurate localization and tracking of dynamic targets, such as equipment, people, vehicles, drones, robots, and the assets that they interact with in GPS-denied indoor environments is critical to enabling safe and efficient operations in the next generation of spatially aware industrial facilities. This paper presents DragonFly , a 3D localization system of highly dynamic backscatter tags using a single MIMO mmWave radar. The system delivers the first demonstration of a mmWave backscatter system capable of exploiting the capabilities of MIMO radars for the 3D localization of mmID tags moving at high speeds and accelerations at long ranges by introducing a critical Doppler disambiguation algorithm and a fully integrated cross-polarized dielectric lens-based mmID tag consuming a mere 68 uW. DragonFly was extensively evaluated in static and dynamic configurations, including on a flying quadcopter, and benchmarked against multiple baselines, demonstrating its ability to track the positions of multiple tags with a median 3D accuracy of 12 cm at speeds and acceleration on the order of 10 m/s and 4 m/s^2 and at ranges of up to 50m.
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