Kui-Yuan Guo

Delay- and Dropout-Aware GRU-SAC Measurement Covariance Adaptation for Robust UWB/INS Indoor Navigation

Ultra-wideband (UWB) ranging provides absolute indoor navigation constraints, whereas inertial navigation (INS) provides high-rate propagation but drifts. Non-line-of-sight (NLOS) bias, packet dropout, and delay make fixed UWB measurement covariance unreliable. We propose a delay- and dropout-aware framework that adapt...