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초록

This paper presents a Hybrid Indoor Localization Scheme (HILS) for drones operating in indoor environments, utilizing Ultra-Wideband (UWB) technology to provision a high positioning accuracy to the drones. The proposed system combines Time Difference of Arrival (TDoA) for initial absolute position estimation and Two-Way Ranging (TWR) for precise relative distance measurements between a pair of drones. After computing their absolute positions via TDoA, the inter-drone distances derived from these positions are compared against TWR-measured distances. The discrepancies are iteratively reduced by particle filtering to enhance the positional accuracy of drones in indoor environments. This fusion approach leverages the complementary strengths of TDoA and TWR to reduce localization errors. Experimental results in simulation demonstrate that HILS significantly improves the localization accuracy of a scalable TDoA-based system.

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