2026
Robust and Efficient CIR-Based Outlier Rejection for Tightly Coupled UWB–ODO–Inertial Navigation
The ultrawideband (UWB) technology has been proven to achieve continuous absolute positioning for wheeled robots. However, its accuracy is often degraded by non-line-of-sight (NLOS) propagation in complex environments. In this article, a channel impulse response (CIR)-based method is proposed to improve the NLOS outlie...
Xiao-Ji Niu, Shuang-Yan Liu, Zi-Hang Zhang et al.
· IEEE Transactions on Instrum... · 0 citations