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Register a new userExperimental Study of Outdoor UAV Localization and Tracking using Passive RF Sensing
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Added by
Udita Bhattacherjee
Publication date
2021
fields
Electronic Engineering
and research's language is
English
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Extensive use of unmanned aerial vehicles (UAVs) is expected to raise privacy and security concerns among individuals and communities. In this context, the detection and localization of UAVs will be critical for maintaining safe and secure airspace in the future. In this work, Keysight N6854A radio frequency (RF) sensors are used to detect and locate a UAV by passively monitoring the signals emitted from the UAV. First, the Keysight sensor detects the UAV by comparing the received RF signature with various other UAVs RF signatures in the Keysight database using an envelope detection algorithm. Afterward, time difference of arrival (TDoA) based localization is performed by a central controller using the sensor data, and the drone is localized with some error. To mitigate the localization error, implementation of an extended Kalman filter~(EKF) is proposed in this study. The performance of the proposed approach is evaluated on a realistic experimental dataset. EKF requires basic assumptions on the type of motion throughout the trajectory, i.e., the movement of the object is assumed to fit some motion model~(MM) such as constant velocity (CV), constant acceleration (CA), and constant turn (CT). In the experiments, an arbitrary trajectory is followed, therefore it is not feasible to fit the whole trajectory into a single MM. Consequently, the trajectory is segmented into sub-parts and a different MM is assumed in each segment while building the EKF model. Simulation results demonstrate an improvement in error statistics when EKF is used if the MM assumption aligns with the real motion.
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In this work, we performed a thorough comparative analysis on a radio frequency (RF) based drone detection and identification system (DDI) under wireless interference, such as WiFi and Bluetooth, by using machine learning algorithms, and a pre-trained convolutional neural network-based algorithm called SqueezeNet, as classifiers. In RF signal fingerprinting research, the transient and steady state of the signals can be used to extract a unique signature from an RF signal. By exploiting the RF control signals from unmanned aerial vehicles (UAVs) for DDI, we considered each state of the signals separately for feature extraction and compared the pros and cons for drone detection and identification. Using various categories of wavelet transforms (discrete wavelet transform, continuous wavelet transform, and wavelet scattering transform) for extracting features from the signals, we built different models using these features. We studied the performance of these models under different signal to noise ratio (SNR) levels. By using the wavelet scattering transform to extract signatures (scattergrams) from the steady state of the RF signals at 30 dB SNR, and using these scattergrams to train SqueezeNet, we achieved an accuracy of 98.9% at 10 dB SNR.
Localization is important for a large number of Internet of Things (IoT) endpoint devices connected by LoRaWAN. Due to the bandwidth limitations of LoRaWAN, existing localization methods without specialized hardware (e.g., GPS) produce poor performance. To increase the localization accuracy, we propose a super-resolution localization method, called Seirios, which features a novel algorithm to synchronize multiple non-overlapped communication channels by exploiting the unique features of the radio physical layer to increase the overall bandwidth. By exploiting both the original and the conjugate of the physical layer, Seirios can resolve the direct path from multiple reflectors in both indoor and outdoor environments. We design a Seirios prototype and evaluate its performance in an outdoor area of 100 m $times$ 60 m, and an indoor area of 25 m $times$ 15 m, which shows that Seirios can achieve a median error of 4.4 m outdoors (80% samples < 6.4 m), and 2.4 m indoors (80% samples < 6.1 m), respectively. The results show that Seirios produces 42% less localization error than the baseline approach. Our evaluation also shows that, different to previous studies in Wi-Fi localization systems that have wider bandwidth, time-of-fight (ToF) estimation is less effective for LoRaWAN localization systems with narrowband radio signals.
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With explosively increasing demands for unmanned aerial vehicle (UAV) applications, reliable link acquisition for serving UAVs is required. Considering the dynamic characteristics of UAV, it is hugely challenging to persist a reliable link without beam misalignment. In this paper, we propose a flight sensor data and beamforming signal based integrated UAV tracking scheme to deal with this problem. The proposed scheme provides a compatible integrated system considering the practical specification of the flight sensor data and the beamforming pilot signal. The UAV position tracking is comprised of two steps: 1) UAV position prediction by the flight sensor data and 2) position update with the beamforming signal using Gaussian process regression (GPR) method, which is a nonparametric machine learning. The flight sensor data can assist ground station (GS) or UAV nodes in designing the precoding and the receive beamforming matrix with drastically reduced overheads. The beamforming signal can accomplish high beamforming gain to be maintained even when the flight sensor data is absent. Therefore, the proposed scheme can support the moving target continuously by utilizing these two signals. The simulation results are provided to confirm that the proposed scheme outperforms other conventional beam tracking schemes. We also derive 3-dimensional (3D) beamforming gain and spectral efficiency (SE) from the mean absolute error (MAE) of the angular value estimation, which can be used as beamforming performance metrics of the data transmission link in advance.
We present a novel scheme allowing for 2D target localization using highly quantized 1-bit measurements from a Frequency Modulated Continuous Wave (FMCW) radar with two receiving antennas. Quantization of radar signals introduces localization artifacts, we remove this limitation by inserting a dithering on the unquantized observations. We then adapt the projected back projection algorithm to estimate both the range and angle of targets from the dithered quantized radar observations, with provably decaying reconstruction error when the number of observations increases. Simulations are performed to highlight the accuracy of the dithered scheme in noiseless conditions when compared to the non-dithered and full 32-bit resolution under severe bit-rate reduction. Finally, measurements are performed using a radar sensor to demonstrate the effectiveness and performances of the proposed quantized dithered scheme in real conditions.
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