Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight and multipath detection methods. However, little attention has been paid to resilience against disturbances in relative localization systems involving multiple nodes. This paper presents an approach to detecting range anomalies in UWB ranging measurements from the perspective of multi-robot cooperative localization. We introduce an approach to exploiting redundancy for relative localization in multi-robot systems, where the position of each node is calculated using different subsets of available data. This enables us to effectively identify nodes that present ranging anomalies and eliminate their effect within the cooperative localization scheme. We analyze anomalies created by timing errors in the ranging process, e.g., owing to malfunctioning hardware. However, our method is generic and can be extended to other types of ranging anomalies. Our approach results in a more resilient cooperative localization framework with a negligible impact in terms of the computational workload.

翻译：超宽带（UWB）定位方法已成为全球导航卫星系统（GNSS）受限环境中兼具成本效益与精度的解决方案。针对UWB测距的鲁棒性，已有大量关于非视距与多径检测方法的研究。然而，涉及多个节点的相对定位系统在抵御干扰方面的研究鲜有关注。本文提出了一种从多机器人协同定位角度检测UWB测距异常的方法。我们引入了一种利用冗余性实现多机器人系统相对定位的方案，其中每个节点的位置通过可用数据的不同子集进行计算。这使得我们能够有效识别存在测距异常的节点，并在协同定位框架中消除其影响。我们分析了由测距过程中的时间误差（例如硬件故障导致）引起的异常。但我们的方法具有通用性，可扩展至其他类型的测距异常。该方法构建了鲁棒性更强的协同定位框架，且对计算负载的影响可忽略不计。