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This work investigates the capability of unmanned aerial vehicles (UAVs) to find and communicate with wireless sensor nodes positioned at unknown locations. In this scenario, the UAV acts as a mobile gateway that estimates the sensor node position using multiple ultra-wideband (UWB) range measurements, before flying in its vicinity to perform energy-efficient data acquisition. In addition to UWB, we use wake-up radio (WUR) to improve the sensor node's energy efficiency, keeping it in the always-on "low-activity" state when the drone is not nearby. The paper proposes a localization algorithm that consists of an iterative, noise-robust and computationally lightweight approach based on multi-lateration. Experimental evaluations performed on synthetic data demonstrate that our approach achieves a submeter localization accuracy using only three range measurements. We confirm this with an extensive in-field evaluation. The multilateration algorithm runs in 4 ms, in low power microcontrollers such as the ARM Cortex-M4F. The WUR and our energy-efficient algorithm enable the sensor node to consume only 31 mJ during the whole localization-acquisition process. Our solution can be introduced in many other industrial applications where a mobile robot needs to estimate the location of imprecisely positioned objects.

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