{"id":"https://openalex.org/W2284951713","doi":"https://doi.org/10.1142/s2301385016400033","title":"Ultra-Wideband-Based Localization for Quadcopter Navigation","display_name":"Ultra-Wideband-Based Localization for Quadcopter Navigation","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2284951713","doi":"https://doi.org/10.1142/s2301385016400033","mag":"2284951713"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385016400033","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385016400033","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112350914","display_name":"Kexin Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Kexin Guo","raw_affiliation_strings":["Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0499-9600","affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083811566","display_name":"Zhirong Qiu","orcid":"https://orcid.org/0000-0003-4896-9649"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhirong Qiu","raw_affiliation_strings":["Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026957844","display_name":"Cunxiao Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cunxiao Miao","raw_affiliation_strings":["University of Science and Technology Beijing, Beijing 100083, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing, Beijing 100083, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083132991","display_name":"Abdul Hanif Zaini","orcid":"https://orcid.org/0000-0003-2480-0435"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Abdul Hanif Zaini","raw_affiliation_strings":["Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100697161","display_name":"Chunlin Chen","orcid":"https://orcid.org/0000-0001-9204-450X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chun-Lin Chen","raw_affiliation_strings":["Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008175534","display_name":"Wei Meng","orcid":"https://orcid.org/0000-0002-8513-5013"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Meng","raw_affiliation_strings":["National University of Singapore, Singapore 117411, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore 117411, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["Nanyang Technological University, Singapore 639798, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore 639798, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5112350914"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":7.2528,"has_fulltext":false,"cited_by_count":136,"citation_normalized_percentile":{"value":0.9742495,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"04","issue":"01","first_page":"23","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.8530312776565552},{"id":"https://openalex.org/keywords/trilateration","display_name":"Trilateration","score":0.8527267575263977},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.8100526332855225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6739157438278198},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6690308451652527},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6205171942710876},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5990445017814636},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.5839959383010864},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5418483018875122},{"id":"https://openalex.org/keywords/multipath-mitigation","display_name":"Multipath mitigation","score":0.4777090549468994},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.43739446997642517},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.3462327718734741},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3439978361129761},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29002970457077026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24474111199378967},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22835388779640198},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18514013290405273},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.17430469393730164},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1255362629890442},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11486747860908508},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10704895853996277},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.08332830667495728}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.8530312776565552},{"id":"https://openalex.org/C20832178","wikidata":"https://www.wikidata.org/wiki/Q1146298","display_name":"Trilateration","level":3,"score":0.8527267575263977},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.8100526332855225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6739157438278198},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6690308451652527},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6205171942710876},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5990445017814636},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.5839959383010864},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5418483018875122},{"id":"https://openalex.org/C2776015439","wikidata":"https://www.wikidata.org/wiki/Q25313558","display_name":"Multipath mitigation","level":4,"score":0.4777090549468994},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.43739446997642517},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.3462327718734741},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3439978361129761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29002970457077026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24474111199378967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22835388779640198},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18514013290405273},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.17430469393730164},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1255362629890442},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11486747860908508},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10704895853996277},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.08332830667495728},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385016400033","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385016400033","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8399999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W13460630","https://openalex.org/W1482618220","https://openalex.org/W1966301784","https://openalex.org/W1970480246","https://openalex.org/W1979826896","https://openalex.org/W2006805041","https://openalex.org/W2010354894","https://openalex.org/W2012462772","https://openalex.org/W2023703534","https://openalex.org/W2048387168","https://openalex.org/W2063698478","https://openalex.org/W2064162514","https://openalex.org/W2071460053","https://openalex.org/W2077355822","https://openalex.org/W2081306264","https://openalex.org/W2091780109","https://openalex.org/W2099902211","https://openalex.org/W2100989187","https://openalex.org/W2104866265","https://openalex.org/W2105562580","https://openalex.org/W2105934661","https://openalex.org/W2108408549","https://openalex.org/W2114547915","https://openalex.org/W2123224804","https://openalex.org/W2125549635","https://openalex.org/W2130447203","https://openalex.org/W2132902886","https://openalex.org/W2137509411","https://openalex.org/W2324309783","https://openalex.org/W2399880942","https://openalex.org/W2797532987","https://openalex.org/W2899452132","https://openalex.org/W3087714965","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W1707434239","https://openalex.org/W3130929031","https://openalex.org/W2248192341","https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2790716548","https://openalex.org/W2085095272","https://openalex.org/W3096811162","https://openalex.org/W4382204355","https://openalex.org/W3128976246"],"abstract_inverted_index":{"Micro":[0],"unmanned":[1],"aerial":[2],"vehicles":[3],"(UAVs)":[4],"are":[5],"promising":[6],"to":[7,51,88,93,120,152,156,172],"play":[8],"more":[9,11],"and":[10,17,45,49,111,131,141,179],"important":[12],"roles":[13],"in":[14,53,166],"both":[15],"civilian":[16],"military":[18],"activities.":[19],"Currently,":[20],"the":[21,29,34,42,78,86,134,146,153,158,161,174],"navigation":[22,159],"of":[23,47,160,176],"UAVs":[24],"is":[25,83,105,108,127],"critically":[26],"dependent":[27],"on":[28,71,85],"localization":[30,66,122,125,180],"service":[31],"provided":[32],"by":[33,129,133,145],"Global":[35],"Positioning":[36],"System":[37],"(GPS),":[38],"which":[39],"suffers":[40],"from":[41],"multipath":[43],"effect":[44],"blockage":[46],"line-of-sight,":[48],"fails":[50],"work":[52],"an":[54],"indoor,":[55],"forest":[56],"or":[57],"urban":[58],"environment.":[59],"In":[60],"this":[61],"paper,":[62],"we":[63],"establish":[64],"a":[65,80,103,121],"system":[67],"for":[68],"quadcopters":[69],"based":[70],"ultra-wideband":[72],"(UWB)":[73],"range":[74],"measurements.":[75],"To":[76],"achieve":[77],"localization,":[79],"UWB":[81,96,177],"module":[82],"installed":[84],"quadcopter":[87],"actively":[89],"send":[90],"ranging":[91,178],"requests":[92],"some":[94],"fixed":[95],"modules":[97],"at":[98],"known":[99],"positions":[100],"(anchors).":[101],"Once":[102],"distance":[104],"obtained,":[106],"it":[107],"calibrated":[109],"first":[110],"then":[112],"goes":[113],"through":[114],"outlier":[115],"detection":[116],"before":[117],"being":[118],"fed":[119,151],"algorithm.":[123,181],"The":[124,139],"algorithm":[126,147],"initialized":[128],"trilateration":[130],"sustained":[132],"extended":[135],"Kalman":[136],"filter":[137],"(EKF).":[138],"position":[140],"velocity":[142],"estimates":[143],"produced":[144],"will":[148],"be":[149],"further":[150],"control":[154],"loop":[155],"aid":[157],"quadcopter.":[162],"Various":[163],"flight":[164],"tests":[165],"different":[167],"environments":[168],"have":[169],"been":[170],"conducted":[171],"validate":[173],"performance":[175]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
