Indoor Follow Me Drone Wenguang Mao, Zaiwei Zhang, Lili Qiu, Jian He, Yuchen Cui, Sangki Yun Presented By Stephen Xia for Columbia University ELEN 9705 Spring 2018 Instructor: Prof. Xiaofan (Fred) Jiang January 24, 2018 Proceedings of the 15 th Annual Internation Conference on Mobile Systems, Applications, and Services MobiSys 2017, Niagara Falls, NY, USA June 19 th 23 rd, 2017
Motivation Follow Me Drones Problem: There is no robust and efficient mobile solution for indoor follow me
Components of Follow Me User Tracking Control Drone Control User movement Prediction
Components of Follow Me User Tracking Control Drone Control User movement Prediction
Current Methods for User Tracking
GPS Current Methods for User Tracking
Current Methods for User Tracking GPS Computer Vision
Current Methods for User Tracking GPS Computer Vision RF
Prior Works for User Tracking GPS Computer Vision RF Acoustics
Limitations in Indoor Scenarios
Limitations in Indoor Scenarios GPS Availability
Limitations in Indoor Scenarios GPS Computer Vision Availability Computation and Accuracy
Limitations in Indoor Scenarios GPS Computer Vision RF Availability Computation and Accuracy Hardware
Limitations in Indoor Scenarios GPS Computer Vision RF Acoustics Availability Computation and Accuracy Hardware
Acoustic Tracking Distance Orientation and Angle
Acoustic Tracking Prior Art Phase Shift Methods (e.g. Doppler Shift) Angle of Arrival and Time Difference of Arrival (e.g. Cross Correlation) * http://archive.ncsa.illinois.edu/cyberia/bima/doppler.html
Acoustic Tracking Prior Art Frequency Modulated Carrier Wave (FMCW) (e.g. Doppler Shift) MUltiple Signal Classification (MUSIC) * http://archive.ncsa.illinois.edu/cyberia/bima/doppler.html
Acoustic Tracking Prior Art Frequency Modulated Carrier Wave MUltiple Signal Classification (MUSIC)
Acoustic Tracking Distance Orientation and Angle
Acoustic Tracking Distance Orientation and Angle
Frequency Modulated Carrier Wave
Improving Robustness of FMCW - MUSIC
Improving Robustness of FMCW - Other Filtering the MUSIC spectrum
Improving Robustness of FMCW - Other Frequency Compensation and Signal Chopping Kalman Filter
Rabbit
Acoustic Tracking Distance Orientation and Angle
Acoustic Tracking Angle
Components of Follow Me User Tracking Control Drone Control User movement Prediction
Components of Follow Me User Tracking Control Drone Control User movement Prediction
Prior Work on Control
Prior Work on Control Manipulated Variables: Pitch Yaw Roll Controlled Variables: Distance to user Orientation to user Lateral Velocity
Prior Work on Control Controller Types: Model Predictive Control PID Vector Field Control Many more.
System Control Sensing: Rabbit Robust Acoustic-Based Indoor Tracking
System Control Manipulated Variables: Pitch Yaw Roll Controlled Variables: Distance to user Orientation to user Lateral Velocity
Components of Follow Me User Tracking Control Drone Control User movement Prediction
User Movement Prediction Controller: Model Predictive Control Sensing Lateral Velocity Doppler Shift
Full System
Full System
Evaluation
Evaluation - Rabbit
Evaluation Full System
Evaluation Full System
Evaluation Real World Trajectory
Evaluation Resource Usage and Delay Power: 3% per 10 minutes on a Galaxy S7
Discussion