Corpus ID: 46651629

An Ultra-Wideband-based Multi-UAV Localization System in GPS-denied environments

  title={An Ultra-Wideband-based Multi-UAV Localization System in GPS-denied environments},
  author={T. M. Nguyen and Abdul Hanif Bin Zaini and Kexin Guo and L. Xie},
  • T. M. Nguyen, Abdul Hanif Bin Zaini, +1 author L. Xie
  • Published 2016
  • This paper presents a technique for multiUAV localization using ranging measurements from Two-Way Time-Of-Flight Ultra-Wideband (UWB) transceivers. In continuation with our previous work, the use of the Extended Kalman Filter (EKF) estimate is extended by fusing with other sensors to achieve a usable altitude estimate. Besides EKF, another method based on Non-linear Regression (NLR) is also developed to serve as an auxiliary localization to supplement the EKF. Experiments of autonomous flights… CONTINUE READING

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