Ultra-Wideband Aided UAV Positioning Using Incremental Smoothing with Ranges and Multilateration
Jungwon Kang,Kunwoo Park,Zahra Arjmandi,Gunho Sohn,Mozhdeh Shahbazi,Patrick Ménard,Jungwon Kang,Kunwoo Park,Zahra Arjmandi,Gunho Sohn,Mozhdeh Shahbazi,Patrick Ménard
In this paper, we present a novel smoothing approach for ultra-wideband (UWB) aided unmanned aerial vehicle (UAV) positioning. Existing works based on smoothing or filtering estimate 3D position of UAV by updating a solution for each single 1D low-dimensional UWB range measurement. However, a low-dimensional single range measurement merely acts as a weak constraint in a solution space for UAV posi...
