Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points
Julian Blueml Alessandro Fornasier Stephan Weiss Julian Blueml Alessandro Fornasier Stephan Weiss
For Ultra-Wide-Band (UWB) based navigation, an accurate initialization of the anchors in a reference coordinate system is crucial for precise subsequent UWB-inertial based pose estimation. This paper presents a strategy based on information theory to initialize such UWB anchors using raw distance measurements from tag to anchor(s) and aerial vehicle poses. We include a linear distance-dependent bi...