LaSen: Low-Altitude Drone Sensing with 5G-NR Signals
Published in SenSys'26: Proceedings of the 2026 ACM/IEEE International Conference on Embedded Artificial Intelligence and Sensing Systems
The surge in low-altitude economic activities has spurred a significant interest in sensing Unmanned Aerial Vehicles (UAVs). With the widespread deployment of 5G infrastructure and the increasing prominence of integrated sensing and communication, monitoring UAVs via 5G base stations is a natural consideration. However, the rapid Doppler shifts of UAVs and sparse 5G reference signals violate Nyquist sampling requirements. To bridge this gap, we propose LaSen, which merges reference and downlink data signals for sensing. A key challenge stems from the fact that the combination of the periodic reference signals and stochastic data signals constitutes a non-uniform, time-varying measurement matrix. LaSen formulates the tracking of UAVs as a sparse recovery problem, where the target’s kinematics are reconstructed from non-uniform, sub-Nyquist observations. LaSen overcomes the challenges of volatile 5G signal patterns in an iterative way, starting from good measurements as an anchor and progressively refining the suboptimal measurements. Real-world experiments show that LaSen significantly extends the velocity sensing capability, where the measurable speed is up to 20.2 m/s. LaSen can detect drones at a distance of 108 m and can continuously track the distance and velocity of multiple targets, even when the downlink channel is sparsely and dynamically occupied. This work demonstrates the feasibility of high-speed target sensing in next-generation dual-function 5G/6G infrastructures.






































