@inproceedings{990fbb5894fa4f1cb0ee4ffa0644871f,
title = "A Hybrid RSS/TOA Algorithm Based on Adaptive EKF for Low-Cost UAV Localization",
abstract = "This paper addresses the problem of cooperative localization in the global navigation satellite system (GNSS) challenging environment such as urban canyon using received signal strength (RSS) based on Zigbee and time of arrival (TOA) based on ultra-wide bandwidth (UWB). The RSS ranging has advantages in wide range ranging with no cost because the primary responsibility of Zigbee device is communication, but its accuracy needs to be improved. The TOA ranging has a higher ranging accuracy but a shorter range. Considering the characteristics above, a hybrid RSS/TOA algorithm based on inertial navigation system (INS) using sequential extended Kalman filter (EKF) for the position estimation of unmanned aerial vehicle (UAV) at the wide-ranging distance is proposed and further improved by adaptive factor. The experimental results show that the proposed algorithm can achieve a more accurate estimation in short distances and a more robust estimation in long distances.",
keywords = "Adaptive filtering, Extended Kalman filter (EKF), Received signal strength (RSS), Time of arrival (TOA), Unmanned aerial vehicle (UAV)",
author = "Junxi Tian and Jing Hu and Shiming Zou and Tao Chao",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Autonomous Unmanned Systems, ICAUS 2021 ; Conference date: 24-09-2021 Through 26-09-2021",
year = "2022",
doi = "10.1007/978-981-16-9492-9\_61",
language = "英语",
isbn = "9789811694912",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "609--618",
editor = "Meiping Wu and Yifeng Niu and Mancang Gu and Jin Cheng",
booktitle = "Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021",
address = "德国",
}