Iterative bias estimation for an ultra-wideband localization system

Bas van der Heijden*, Anton Ledergerber, Rajan Gill, Raffaello D'Andrea

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

4 Citations (Scopus)
17 Downloads (Pure)


An iterative bias estimation framework is presented that mitigates position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The framework is experimentally evaluated on a quadcopter platform, resulting in improvements in the tracking performance with respect to ground truth, and also smoothing the overall flight by significantly reducing unwanted oscillations; see for a video.

Original languageEnglish
Pages (from-to)1391-1396
Volume53 (2020)
Issue number2
Publication statusPublished - 2021
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020


  • Adaptive observer design
  • Bayesian methods
  • Classification
  • Iterative and repetitive control
  • Recursive least squares
  • Sensor fusion
  • Ultra-wideband technology


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