DragonFly: Single mmWave Radar 3D Localization of Highly Dynamic Tags in GPS-Denied Environments
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866917097788932096 |
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| author | Harisha, Skanda Hester, Jimmy G. D. Eid, Aline |
| author_facet | Harisha, Skanda Hester, Jimmy G. D. Eid, Aline |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_04602 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | DragonFly: Single mmWave Radar 3D Localization of Highly Dynamic Tags in GPS-Denied Environments Harisha, Skanda Hester, Jimmy G. D. Eid, Aline Robotics 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. |
| title | DragonFly: Single mmWave Radar 3D Localization of Highly Dynamic Tags in GPS-Denied Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.04602 |