Abstract
In this paper,we present an RFID based human and Unmanned Aerial Vehicle (UAV) Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification (RFID) technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency (UHF) RFID tags to a board.A Commercial Off-The-Shelf (COTS) RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information (CSI) phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition (SVD) based approach to obtain a 6-DoF (Degrees of Freedom) pose of the controller from estimated positions of the tags.Furthermore,t