Multi-Ray Modeling of Ultrasonic Sensors and Application for Micro-UAV Localization in Indoor Environments
Due to its payload, size and computational limits, localizing a micro air vehicle (MAV) using only its onboard sensors in an indoor environment is a challenging problem in practice.This paper introduces an indoor localization approach that relies on only the inertial measurement unit (IMU) and four ultrasonic sensors.Specifically, a novel multi-ray