摘要：AbstractAn iterative bias estimation framework is presented that mitigates position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The framework is experimentally evaluated on a quadcopter platform, resulting in improvements in the tracking performance with respect to ground truth, and also smoothing the overall flight by significantly reducing unwanted oscillations; seehttps://youtu.be/J-htfbzf40Ufor a video.
关键词：KeywordsUltra-wideband technologyadaptive observer designiterativerepetitive controlBayesian methodssensor fusionrecursive least squaresclassification
