{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T16:27:42Z","timestamp":1780763262461,"version":"3.54.1"},"publisher-location":"New York, NY, USA","reference-count":58,"publisher":"ACM","license":[{"start":{"date-parts":[[2022,11,6]],"date-time":"2022-11-06T00:00:00Z","timestamp":1667692800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Digital Futures programme (project Drone Arena)"},{"name":"Swedish Science Foundation (SSF)"},{"name":"Swedish Research Council","award":["2018-05024"],"award-info":[{"award-number":["2018-05024"]}]},{"name":"KAW project UPDATE"},{"name":"Shanxi Provincial Department of Science and Technology","award":["No. 2020XXX007"],"award-info":[{"award-number":["No. 2020XXX007"]}]},{"name":"National Science Fund of China","award":["No. U21B2007"],"award-info":[{"award-number":["No. U21B2007"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2022,11,6]]},"DOI":"10.1145\/3560905.3568499","type":"proceedings-article","created":{"date-parts":[[2023,1,24]],"date-time":"2023-01-24T23:37:10Z","timestamp":1674603430000},"page":"476-488","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":24,"title":["AIM"],"prefix":"10.1145","author":[{"given":"Yimiao","family":"Sun","sequence":"first","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weiguo","family":"Wang","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luca","family":"Mottola","sequence":"additional","affiliation":[{"name":"Politecnico di Milano, Italy and RI.SE Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruijin","family":"Wang","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuan","family":"He","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,1,24]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"Proceedings of the 17th Annual International Conference on Mobile Systems, Applications, and Services. 67--78","author":"Mikhail","unstructured":"Mikhail Afanasov et al. 2019. FlyZone: A testbed for experimenting with aerial drone applications. In Proceedings of the 17th Annual International Conference on Mobile Systems, Applications, and Services. 67--78."},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"crossref","unstructured":"Adeola Bannis et al. 2020. Bleep: motor-enabled audio side-channel for constrained UAVs. In ACM MobiCom. 1--13.","DOI":"10.1145\/3372224.3419183"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1080\/02664763.2010.545119"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICMCIS.2018.8398721"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"crossref","unstructured":"Ali Bekar et al. 2021. Low-Cost High-Resolution Drone-Borne SAR Imaging. IEEE Transactions on Geoscience and Remote Sensing (2021).","DOI":"10.1109\/TGRS.2021.3085235"},{"key":"e_1_3_2_1_6_1","volume-title":"2021 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA). IEEE, 286--290","author":"Hanwen","unstructured":"Hanwen Bi et al. 2021. Spherical Array Based Drone Noise Measurements and Modelling for Drone Noise Reduction via Propeller Phase Control. In 2021 IEEE Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA). IEEE, 286--290."},{"key":"e_1_3_2_1_7_1","unstructured":"Bitcraze. 2022. Lighthouse positioning System. (2022). https:\/\/www.bitcraze.io\/documentation\/system\/positioning\/ligthouse-positioning-system\/"},{"key":"e_1_3_2_1_8_1","unstructured":"Bitcraze. 2022. Loco Positioning system. (2022). https:\/\/www.bitcraze.io\/documentation\/system\/positioning\/loco-positioning-system\/"},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1121\/10.0001930"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/2906388.2906410"},{"key":"e_1_3_2_1_11_1","first-page":"1","article-title":"We Hear Your PACE: Passive Acoustic Localization of Multiple Walking Persons","volume":"5","author":"Chao Cai","year":"2021","unstructured":"Chao Cai et al. 2021. We Hear Your PACE: Passive Acoustic Localization of Multiple Walking Persons. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, 2 (2021), 1--24.","journal-title":"Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"crossref","unstructured":"Chao Cai et al. 2022. Ubiquitous Acoustic Sensing on Commodity IoT Devices: A Survey. IEEE Communications Surveys & Tutorials (2022).","DOI":"10.1109\/COMST.2022.3145856"},{"key":"e_1_3_2_1_13_1","volume-title":"Proceedings of the 18th Conference on Embedded Networked Sensor Systems. 95--108","author":"Gaoshuai","unstructured":"Gaoshuai Cao et al. 2020. Earphonetrack: involving earphones into the ecosystem of acoustic motion tracking. In Proceedings of the 18th Conference on Embedded Networked Sensor Systems. 95--108."},{"key":"e_1_3_2_1_14_1","volume-title":"IEEE Sensor Array and Multichannel Signal Processing Workshop. 573--577","author":"Xianyu","unstructured":"Xianyu Chang et al. 2018. A surveillance system for drone localization and tracking using acoustic arrays. In IEEE Sensor Array and Multichannel Signal Processing Workshop. 573--577."},{"key":"e_1_3_2_1_15_1","volume-title":"2010 IEEE International Symposium on Electromagnetic Compatibility. IEEE, 881--884","author":"Ferrer Javier","unstructured":"Javier Ferrer Coll et al. 2010. Simulation and measurement of electromagnetic radiation absorption in a finished-product warehouse. In 2010 IEEE International Symposium on Electromagnetic Compatibility. IEEE, 881--884."},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593704"},{"key":"e_1_3_2_1_17_1","unstructured":"DJI. 2022. DJI Mini 2 quadcopter. (2022). https:\/\/www.dji.com\/cn\/mini-2"},{"key":"e_1_3_2_1_18_1","unstructured":"DSV. 2020. DSV improves warehouse operations with drone system. (2020). https:\/\/www.youtube.com\/watch?v=5N87L_nO2ms&t=49s"},{"key":"e_1_3_2_1_19_1","volume-title":"IEEE Radio and Wireless Symposium. 1--4.","author":"Martins","unstructured":"Martins Ezuma et al. 2019. Micro-UAV detection with a low-grazing angle millimeter wave radar. In IEEE Radio and Wireless Symposium. 1--4."},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/MC.2019.2942290"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"crossref","unstructured":"Mahanth Gowda et al. 2016. Tracking drone orientation with multiple GPS receivers. In ACM MobiCom. 280--293.","DOI":"10.1145\/2973750.2973768"},{"key":"e_1_3_2_1_22_1","volume-title":"Proceedings of the ESSV Conference (Studientexte zur Sprachkommunikation) vol","volume":"93","author":"Jokisch Oliver","year":"2019","unstructured":"Oliver Jokisch and Dominik Fischer. 2019. Drone sounds and environmental signals-a first review. In Proceedings of the ESSV Conference (Studientexte zur Sprachkommunikation) vol, Vol. 93. 212--220."},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASSP.1976.1162830"},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.3390\/s19010046"},{"key":"e_1_3_2_1_25_1","first-page":"1","article-title":"DronePrint: Acoustic Signatures for Open-set Drone Detection and Identification with Online Data","volume":"5","author":"Harini Kolamunna","year":"2021","unstructured":"Harini Kolamunna et al. 2021. DronePrint: Acoustic Signatures for Open-set Drone Detection and Identification with Online Data. ACM IMWUT 5, 1 (2021), 1--31.","journal-title":"ACM IMWUT"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2955003"},{"key":"e_1_3_2_1_27_1","volume-title":"Proceedings of the 18th Conference on Embedded Networked Sensor Systems. 150--163","author":"Dong","unstructured":"Dong Li et al. 2020. FM-track: pushing the limits of contactless multi-target tracking using acoustic signals. In Proceedings of the 18th Conference on Embedded Networked Sensor Systems. 150--163."},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22010391"},{"key":"e_1_3_2_1_29_1","first-page":"22","article-title":"Modelling and control of quadcopter. Independent research project in applied mathematics","volume":"22","author":"Luukkonen Teppo","year":"2011","unstructured":"Teppo Luukkonen. 2011. Modelling and control of quadcopter. Independent research project in applied mathematics, Espoo 22 (2011), 22.","journal-title":"Espoo"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.08.001"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.3390\/drones5040123"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"crossref","unstructured":"Robert Mahony et al. 2012. Multirotor aerial vehicles: Modeling estimation and control of quadrotor. IEEE Robotics and Automation magazine 19 3 (2012) 20--32.","DOI":"10.1109\/MRA.2012.2206474"},{"key":"e_1_3_2_1_33_1","volume-title":"Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services. 345--358","author":"Wenguang","unstructured":"Wenguang Mao et al. 2017. Indoor follow me drone. In Proceedings of the 15th Annual International Conference on Mobile Systems, Applications, and Services. 345--358."},{"key":"e_1_3_2_1_34_1","volume-title":"2021 24th International Symposium on Wireless Personal Multimedia Communications (WPMC). IEEE, 1--5.","author":"Mehari","unstructured":"Mehari Meles et al. 2021. Measurement based performance evaluation of drone self-localization using AoA of cellular signals. In 2021 24th International Symposium on Wireless Personal Multimedia Communications (WPMC). IEEE, 1--5."},{"key":"e_1_3_2_1_35_1","volume-title":"2019 7th International Conference on Robotics and Mechatronics (ICRoM). IEEE, 120--124","author":"Khamseh Hamid Didari","unstructured":"Hamid Didari Khamseh Motlagh et al. 2019. Position Estimation for Drones based on Visual SLAM and IMU in GPS-denied Environment. In 2019 7th International Conference on Robotics and Mechatronics (ICRoM). IEEE, 120--124."},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/TGRS.2008.2010314"},{"key":"e_1_3_2_1_37_1","volume-title":"Proceedings of the 15th annual international conference on mobile systems, applications, and services. 211--224","author":"Phuc","unstructured":"Phuc Nguyen et al. 2017. Matthan: Drone presence detection by identifying physical signatures in the drone's rf communication. In Proceedings of the 15th annual international conference on mobile systems, applications, and services. 211--224."},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/3191789.3191800"},{"key":"e_1_3_2_1_39_1","volume-title":"Proceedings of the 5th workshop on micro aerial vehicle networks, systems, and applications. 21--26","author":"Phuc","unstructured":"Phuc Nguyen et al. 2019. Towards RF-based localization of a drone and its controller. In Proceedings of the 5th workshop on micro aerial vehicle networks, systems, and applications. 21--26."},{"key":"e_1_3_2_1_40_1","unstructured":"Nooploop. 2022. LinkTrack UWB tracking system. (2022). https:\/\/www.nooploop.com\/"},{"key":"e_1_3_2_1_41_1","unstructured":"OptiTrack. 2022. OptiTrack motion tracking system. (2022). https:\/\/optitrack.com\/"},{"key":"e_1_3_2_1_42_1","volume-title":"Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications. 27--32","author":"Soundarya","unstructured":"Soundarya Ramesh et al. 2019. Sounduav: Towards delivery drone authentication via acoustic noise fingerprinting. In Proceedings of the 5th Workshop on Micro Aerial Vehicle Networks, Systems, and Applications. 27--32."},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3214283"},{"key":"e_1_3_2_1_44_1","volume-title":"Proceedings of the 26th Annual International Conference on Mobile Computing and Networking. 1--14","author":"Sheng","unstructured":"Sheng Shen et al. 2020. Voice localization using nearby wall reflections. In Proceedings of the 26th Annual International Conference on Mobile Computing and Networking. 1--14."},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700450"},{"key":"e_1_3_2_1_46_1","volume-title":"https:\/\/wiki.seeedstudio.com\/ReSpeaker_4_Mic_Array_for_Raspberry_Pi\/","author":"Studio Seeed","year":"2022","unstructured":"Seeed Studio. 2022. ReSpeaker 4-Mic Array. (2022). https:\/\/wiki.seeedstudio.com\/ReSpeaker_4_Mic_Array_for_Raspberry_Pi\/"},{"key":"e_1_3_2_1_47_1","unstructured":"Seeed Studio. 2022. ReSpeaker 6-Mic Circular Array. (2022). https:\/\/wiki.seeedstudio.com\/ReSpeaker_6-Mic_Circular_Array_kit_for_Raspberry_Pi\/"},{"key":"e_1_3_2_1_48_1","volume-title":"2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN). IEEE, 1--8.","author":"Davide","unstructured":"Davide Vecchia et al. 2019. TALLA: Large-scale TDoA localization with ultra-wideband radios. In 2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN). IEEE, 1--8."},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759617"},{"key":"e_1_3_2_1_50_1","volume-title":"ChordMics: Acoustic Signal Purification with Distributed Microphones. In 2020 29th International Conference on Computer Communications and Networks (ICCCN). IEEE, 1--9.","author":"Weiguo","unstructured":"Weiguo Wang et al. 2020. ChordMics: Acoustic Signal Purification with Distributed Microphones. In 2020 29th International Conference on Computer Communications and Networks (ICCCN). IEEE, 1--9."},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"crossref","unstructured":"Weiguo Wang et al. 2020. Symphony: localizing multiple acoustic sources with a single microphone array. In ACM SenSys. 82--94.","DOI":"10.1145\/3384419.3430724"},{"key":"e_1_3_2_1_52_1","unstructured":"Weiguo Wang et al. 2022. Localizing Multiple Acoustic Sources With a Single Microphone Array. IEEE Transactions on Mobile Computing (2022)."},{"key":"e_1_3_2_1_53_1","unstructured":"Ware. 2020. Automating cycle counting with warehouse drones at CEVA Logistics | Ware. (2020). https:\/\/www.youtube.com\/watch?v=nV34cMDfu_0"},{"key":"e_1_3_2_1_54_1","volume-title":"IEEE Global Humanitarian Technology Conference. 1--7.","author":"D","unstructured":"D Yallappa et al. 2017. Development and evaluation of drone mounted sprayer for pesticide applications to crops. In IEEE Global Humanitarian Technology Conference. 1--7."},{"key":"e_1_3_2_1_55_1","volume-title":"Proceedings of the 26th Annual International Conference on Mobile Computing and Networking. 1--14","author":"Zhijian","unstructured":"Zhijian Yang et al. 2020. Ear-ar: indoor acoustic augmented reality on earphones. In Proceedings of the 26th Annual International Conference on Mobile Computing and Networking. 1--14."},{"key":"e_1_3_2_1_56_1","volume-title":"IEEE Signal Processing and Communication Application Conference. 565--568","author":"Dilan","unstructured":"Dilan Yavuz et al. 2016. Intelligent drone navigation for search and rescue operations. In IEEE Signal Processing and Communication Application Conference. 565--568."},{"key":"e_1_3_2_1_57_1","volume-title":"Proc. 41st IEEE INFOCOM. 1--10","author":"Tianyue","unstructured":"Tianyue Zheng et al. 2022. Sound of motion: Real-time wrist tracking with a smart watch-phone pair. In Proc. 41st IEEE INFOCOM. 1--10."},{"key":"e_1_3_2_1_58_1","volume-title":"IEEE international conference on robotics and automation. 2027--2033","author":"Xiaowei","unstructured":"Xiaowei Zhou et al. 2018. Human motion capture using a drone. In IEEE international conference on robotics and automation. 2027--2033."}],"event":{"name":"SenSys '22: The 20th ACM Conference on Embedded Networked Sensor Systems","location":"Boston Massachusetts","acronym":"SenSys '22","sponsor":["SIGMETRICS ACM Special Interest Group on Measurement and Evaluation","SIGCOMM ACM Special Interest Group on Data Communication","SIGMOBILE ACM Special Interest Group on Mobility of Systems, Users, Data and Computing","SIGOPS ACM Special Interest Group on Operating Systems","SIGBED ACM Special Interest Group on Embedded Systems","SIGARCH ACM Special Interest Group on Computer Architecture"]},"container-title":["Proceedings of the 20th ACM Conference on Embedded Networked Sensor Systems"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3560905.3568499","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3560905.3568499","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T17:49:15Z","timestamp":1750182555000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3560905.3568499"}},"subtitle":["Acoustic Inertial Measurement for Indoor Drone Localization and Tracking"],"short-title":[],"issued":{"date-parts":[[2022,11,6]]},"references-count":58,"alternative-id":["10.1145\/3560905.3568499","10.1145\/3560905"],"URL":"https:\/\/doi.org\/10.1145\/3560905.3568499","relation":{},"subject":[],"published":{"date-parts":[[2022,11,6]]},"assertion":[{"value":"2023-01-24","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}