Position Estimation from UWB Pseudorange and Angle-of-Arrival: A Comparison of Non-linear Regression and Kalman Filtering.

Kavitha Muthukrishnan Mike Hazas Position Estimation from UWB Pseudorange and Angle-of-Arrival: A Comparison of Non-linear Regression and Kalman Filtering. 222-239 2009 LoCA http://dx.doi.org/10.1007/978-3-642-01721-6_14 conf/loca/2009 db/conf/loca/loca2009.html#MuthukrishnanH09