Jungwon Kang

Ultra-Wideband Aided UAV Positioning Using Incremental Smoothing with Ranges and Multilateration

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-di…