{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T13:02:01Z","timestamp":1784120521944,"version":"3.55.0"},"reference-count":35,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T00:00:00Z","timestamp":1543276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61503405"],"award-info":[{"award-number":["61503405"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61703428"],"award-info":[{"award-number":["61703428"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61703422"],"award-info":[{"award-number":["61703422"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Aeronautical Science Foundation of China","award":["20160896007"],"award-info":[{"award-number":["20160896007"]}]},{"name":"National Aeronautical Science Foundation of China","award":["20160896008"],"award-info":[{"award-number":["20160896008"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Localization in GPS-denied environments has become a bottleneck problem for small unmanned aerial vehicles (UAVs). Smartphones equipped with multi-sensors and multi-core processors provide a choice advantage for small UAVs for their high integration and light weight. However, the built-in phone sensor has low accuracy and the phone storage and computing resources are limited, which make the traditional localization methods unable to be readily converted to smartphone-based ones. The paper aims at exploring the feasibility of the phone sensors, and presenting a real-time, less memory autonomous localization method based on the phone sensors, so that the combination of \u201csmall UAV+smartphone\u201d can operate in GPS-denied areas regardless of the overload problem. Indoor and outdoor flight experiments are carried out, respectively, based on an off-the-shelf smartphone and a XAircraft 650 quad-rotor platform. The results show that the precision performance of the phone sensors and real-time accurate localization in indoor environment is possible.<\/jats:p>","DOI":"10.3390\/s18124161","type":"journal-article","created":{"date-parts":[[2018,11,27]],"date-time":"2018-11-27T12:17:35Z","timestamp":1543321055000},"page":"4161","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Real-Time UAV Autonomous Localization Based on Smartphone Sensors"],"prefix":"10.3390","volume":"18","author":[{"given":"Boxin","family":"Zhao","sequence":"first","affiliation":[{"name":"Equipment management and UAV Engineering College, Air force Engineering University, Xi\u2019an 710038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaolong","family":"Chen","sequence":"additional","affiliation":[{"name":"Science and Technology on Aircraft Control Laboratory, FACRI, Xi\u2019an 710038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6242-8422","authenticated-orcid":false,"given":"Xiaolin","family":"Zhao","sequence":"additional","affiliation":[{"name":"Equipment management and UAV Engineering College, Air force Engineering University, Xi\u2019an 710038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Jiang","sequence":"additional","affiliation":[{"name":"Equipment management and UAV Engineering College, Air force Engineering University, Xi\u2019an 710038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiahua","family":"Wei","sequence":"additional","affiliation":[{"name":"Equipment management and UAV Engineering College, Air force Engineering University, Xi\u2019an 710038, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,11,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"673","DOI":"10.1109\/TAES.2012.6129663","article-title":"UAV Grouping and Coordination Tactics for Ground Attack Missions","volume":"48","author":"Suresh","year":"2012","journal-title":"IEEE Trans. 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