National Development and Reform Commission

Fisher-Information-Based Cooperative Sensor Node Pre-Selection for UWB-Aided GNSS-Denied UAV Swarm Localization Under Heterogeneous Ranging Noise

Ultra-wideband (UWB) inter-node ranging provides relative-distance constraints for cooperative localization in GNSS-denied UAV swarms, but dense candidate networks can exceed the available ranging slots, communication bandwidth, computation, and energy. This paper proposes a Fish...