The vision of tracking small IoT devices runs into the reality of localization technologies---today it is difficult to continuously track objects through walls in homes and warehouses on a coin cell battery. Although Wi-Fi and ultra-wideband radios can provide tracking through walls, they do not last more than a month on small coin and button cell batteries because they consume tens of milliwatts of power. We present the first localization system that consumes microwatts of power at a mobile device and can be localized across multiple rooms in settings such as homes and hospitals. To this end, we introduce a multiband backscatter prototype that operates across 900 MHz, 2.4 GHz, and 5 GHz and can extract the backscatter phase information from signals that are below the noise floor. We build subcentimeter-sized prototypes that consume 93 μW and could last five to ten years on button cell batteries. We achieved ranges of up to 60 m away from the AP and accuracies of 2, 12, 50, and 145 cm at 1, 5, 30, and 60 m, respectively. To demonstrate the potential of our design, we deploy it in two real-world scenarios: five homes in a metropolitan area and the surgery wing of a hospital in patient pre-op and post-op rooms as well as storage facilities.
Aided inertial navigation of small unmanned aerial vehicles using an ultra-wideband real time localization system
