Accuracy and Integrity Assessment of a sUAS UWB-Indoor Positioning System Using Factor Graph Optimization

Mats Martens and Maarten Uijt de Haag

Peer Reviewed

Abstract:	This paper discusses a navigation system for small Unmanned Aerial Systems (sUAS) as part of the TU Berlin’s indoor (7.5m x 3.75m x 3m) flight test-range for urban air mobility and UAS traffic management applications. The proposed navigator uses measurements from the commercial-of-the-shelf sUAS’s built-in sensors, as well as an additional onboard ultrawide-band (UWB) range radio and multiple external stationary UWB beacons. This work applies Factor-Graph-Optimization to the task of decentralized position estimation and extends it with existing batch-optimization based integrity monitoring solutions approaches. Using an OptiTrack motion capture system the performance of the system is analyzed after assessing the quality of the individual sensors. Index Terms—Factor-Graph Optimization, Integrity Monitoring, Ultra-Wide-Band, Multilateration
Published in:	2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 28 - 1, 2025 Salt Lake Marriott Downtown at City Creek Salt Lake City, UT
Pages:	747 - 755
Cite this article:	Martens, Mats, de Haag, Maarten Uijt, "Accuracy and Integrity Assessment of a sUAS UWB-Indoor Positioning System Using Factor Graph Optimization," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 747-755.
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