Open access
Sep 2026
Dynamic Ranging-Error Compensation and Consistent Cooperative Localization in TDMA UWB UAV Swarms
A modular architecture coupling an online maximum-likelihood polynomial least-squares ranging front-end with a fading split covariance intersection cooperative back-end through a per-link variance interface delivers the trustworthy uncertainty that safety-critical swarm decisions require in GNSS-denied flight.
Zheng-De Xie, Chen-Xin Tu, Yi-Ding Zhan et al.
· Drones · 0 citations