An Indoor UAV Localization Framework with ESKF Tightly-Coupled Fusion and Multi-Epoch UWB Outlier Rejection
Jianmin Zhao, Zhongliang Deng, Enwen Hu, Wenju Su, Boyang Lou, Yanxu Liu, Xiansheng Guo · 2025
Read An Indoor UAV Localization Framework with ESKF Tightly-Coupled Fusion and Multi-Epoch UWB Outlier Rejection by Jianmin Zhao, Zhongliang Deng, Enwen Hu, Wenju Su, Boyang Lou, Yanxu Liu, Xiansheng Guo (2025) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-12737027.txt.
Description
Jianmin Zhao and six co-authors build a location system for indoor drones where satellite signals fail, in a paper from 2025. Motion sensors drift over time, radio ranges bend when walls block the direct path, and camera tracking drifts when scenes lack features. Each source alone is too weak indoors.
Their system tightly blends motion data, raw radio ranges, camera poses, and height readings in one filter. A check across several time steps throws out bad radio ranges blocked by obstacles. Tests in an underground parking garage beat prior methods on accuracy and stability. Drift from each source was held down well.
Catalog record
| CREATOR | Jianmin Zhao, Zhongliang Deng, Enwen Hu, Wenju Su, Boyang Lou, Yanxu Liu, Xiansheng Guo |
|---|---|
| YEAR | 2025 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 59 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |