RF Backscatter-based State Estimation for Micro Aerial Vehicles

TL;DR

Marvel introduces a novel RF backscatter-based system enabling indoor MAV state estimation without infrastructure, achieving high accuracy and supporting autonomous flight in challenging environments.

Contribution

The paper presents Marvel, a lightweight RF backscatter system for MAVs that operates indoors without infrastructure or pre-trained signatures, enabling autonomous navigation.

Findings

Supports navigation within 50 meters or through three walls

Achieves 34 cm localization accuracy

Achieves 4.99° orientation accuracy

Abstract

The advances in compact and agile micro aerial vehicles (MAVs) have shown great potential in replacing human for labor-intensive or dangerous indoor investigation, such as warehouse management and fire rescue. However, the design of a state estimation system that enables autonomous flight in such dim or smoky environments presents a conundrum: conventional GPS or computer vision based solutions only work in outdoors or well-lighted texture-rich environments. This paper takes the first step to overcome this hurdle by proposing Marvel, a lightweight RF backscatter-based state estimation system for MAVs in indoors. Marvel is nonintrusive to commercial MAVs by attaching backscatter tags to their landing gears without internal hardware modifications, and works in a plug-and-play fashion that does not require any infrastructure deployment, pre-trained signatures, or even without knowing the controller's location. The enabling techniques are a new backscatter-based pose sensing module and a novel backscatter-inertial super-accuracy state estimation algorithm. We demonstrate our design by programming a commercial-off-the-shelf MAV to autonomously fly in different trajectories. The results show that Marvel supports navigation within a range of $50$ m or through three concrete walls, with an accuracy of $34$ cm for localization and $4.99^\circ$ for orientation estimation, outperforming commercial GPS-based approaches in outdoors.