An Energy-efficient Localization System for Imprecisely Positioned Sensor Nodes with Flying UAVs

This work investigates the capability of unmanned aerial vehicles (UAVs) to find and communicate with wireless sensor nodes positioned at unknown locations. In this scenario, the UAV acts as a mobile gateway that estimates the sensor node position using multiple ultra-wideband (UWB) range measurements, before flying in its vicinity to perform energy-efficient data acquisition. In addition to UWB, we use wake-up radio (WUR) to improve the sensor node's energy efficiency, keeping it in the always-on “low-activity” state when the drone is not nearby. The paper proposes a localization algorithm that consists of an iterative, noise-robust and computationally lightweight approach based on multi-lateration. Experimental evaluations performed on synthetic data demonstrate that our approach achieves a submeter localization accuracy using only three range measurements. We confirm this with an extensive in-field evaluation. The multilateration algorithm runs in 4 ms, in low power microcontrollers such as the ARM Cortex-M4F. The WUR and our energy-efficient algorithm enable the sensor node to consume only 31 mJ during the whole localization-acquisition process. Our solution can be introduced in many other industrial applications where a mobile robot needs to estimate the location of imprecisely positioned objects.