Bibliographic record
Abstract
In this paper, a 3D velocity estimation solution based on ultra wide-band (UWB) signals is developed for navigation of unmanned aerial vehicles (UAVs) in indoor spaces. The solution incorporates two consecutive gradient descent optimizations for position and velocity estimation, as well as two linear Kalman filters for removing noise on the range measurements and the vertical position estimate. The solution is verified by three experimental scenarios with manual and autonomous flights of a quadrotor. In our implementation, 8 anchors are employed to construct the UWB system, while the Vicon MoCap system is utilized as the ground-truth for assessing the performance of the solution. All proposed algorithms are implemented on a computer on-board the quadrotor, with the low-level control for the quadrotor provided by the PX4 platform. Compared to a motion capture system, a relatively cheap solution for both absolute position and velocity estimation is achieved using the UWB system, with sufficient accuracy for autonomous flight of UAVs in indoor areas.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".