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RFHUI: An Intuitive and Easy-to-Operate Human-UAV Interaction System for Controlling a UAV in a 3D Space

With the increasing commercial prospect of personal Unmanned Aerial Vehicle (UAV), human and UAV interaction has been a compelling and challenging task. In this paper, we present the RFHUI, a human and UAV interaction system based on passive radio-frequency identification (RFID) technology which provides a remote control function. Three or more Ultra high frequency (UHF) RFID tags are attached on a board to create a hand-held controller. A COTS (Commercial Off-The-Shelf) RFID reader with multiple antennas is deployed to collect the observations of the tags. According to the phase measurement from the RFID reader, we leverage a Bayesian filter based method to localize the position of all tags in a global coordinate. From the estimated position of the attached tags, a 6 DOF (Degrees of Freedom) pose of the controller can be obtained. Therefore, when the user moves the controller, its pose will be precisely tracked in a real-time manner. Then, the flying commands, which are generated from the estimated pose of the controller, are sent to the UAV for navigation. We implemented a prototype of the RFHUI, and the experiment results show that it provides precise poses with 0.045 m error in position and 2.5° error in orientation for the controller. It therefore enables the controller to precisely and intuitively instruct the UAV's navigation in an indoor environment.