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van der Heijden, D.S. (author), Ledergerber, Anton (author), Gill, Rajan (author), D'Andrea, Raffaello (author)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...journal article 2021