A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors
Sven Pfeiffer (TU Delft - Aerospace Engineering)
Christophe De Wagter (TU Delft - Aerospace Engineering)
Guido C.H.E.De Croon (TU Delft - Aerospace Engineering)
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Abstract
We present a computationally efficient moving horizon estimator that allows for real-time localization using Ultra-Wideband measurements on small quadrotors. The estimator uses only a single iteration of a simple gradient descent method to optimize the state estimate based on past measurements, while using random sample consensus to reject outliers. We compare our algorithm to a state-of-the-art Extended Kalman Filter and show its advantages when dealing with heavy-tailed noise, which is frequently encountered in Ultra-Wideband ranging. Furthermore, we analyze the algorithm's performance when reducing the number of beacons for measurements and we implement the code on a 30 g Crazyflie drone, to show its ability to run on computationally limited devices.