ArticleSensors (Basel, Switzerland)2026
Fisher-Information-Based Cooperative Sensor Node Pre-Selection for UWB-Aided GNSS-Denied UAV Swarm Localization Under Heterogeneous Ranging Noise.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
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 Fisher-information-based cooperative sensor node pre-selection method under heterogeneous ranging noise. All mobile nodes remain in the localization state, while the selected nodes induce the active ranging-link set. Selected-node, induced-link, ranging-slot, and normalized general-resource budgets are represented separately. Using predicted geometry and estimated link-quality weights, a gauge-free normalized Fisher information matrix combines link geometry, link-quality-dependent weights, and topology-induced coupling. A trace-based generalized GDOP (G-GDOP) criterion is optimized by a two-stage greedy heuristic with recursive matrix updates. The experiments show that G-GDOP is a local observability and information-quality metric rather than a direct predictor of topology-level nonlinear recovery error. Within the same topology, normalized local RMSE increased from 0.698 [0.673, 0.752] in the Low G-GDOP group to 1.014 [0.999, 1.068] and 1.980 [1.806, 2.180] in the Medium and High groups. Increasing the selected-node budget from
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