{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:02:37Z","timestamp":1777654957729,"version":"3.51.4"},"reference-count":62,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,3,18]],"date-time":"2022-03-18T00:00:00Z","timestamp":1647561600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100019124","name":"Diputaci\u00f3n Foral de Gipuzkoa","doi-asserted-by":"publisher","award":["2020-I40P-000047-01"],"award-info":[{"award-number":["2020-I40P-000047-01"]}],"id":[{"id":"10.13039\/501100019124","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003086","name":"Basque Government","doi-asserted-by":"publisher","award":["KK-2021\/00033"],"award-info":[{"award-number":["KK-2021\/00033"]}],"id":[{"id":"10.13039\/501100003086","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work presents a novel landing assistance system (LAS) capable of locating a drone for a safe landing after its inspection mission. The location of the drone is achieved by a fusion of ultra-wideband (UWB), inertial measurement unit (IMU) and magnetometer data. Unlike other typical landing assistance systems, the UWB fixed sensors are placed around a 2 \u00d7 2 m landing platform and two tags are attached to the drone. Since this type of set-up is suboptimal for UWB location systems, a new positioning algorithm is proposed for a correct performance. First, an extended Kalman filter (EKF) algorithm is used to calculate the position of each tag, and then both positions are combined for a more accurate and robust localisation. As a result, the obtained positioning errors can be reduced by 50% compared to a typical UWB-based landing assistance system. Moreover, due to the small demand of space, the proposed landing assistance system can be used almost anywhere and is deployed easily.<\/jats:p>","DOI":"10.3390\/s22062347","type":"journal-article","created":{"date-parts":[[2022,3,20]],"date-time":"2022-03-20T21:37:17Z","timestamp":1647812237000},"page":"2347","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["UWB and IMU-Based UAV\u2019s Assistance System for Autonomous Landing on a Platform"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3566-4707","authenticated-orcid":false,"given":"Aitor","family":"Ochoa-de-Eribe-Landaberea","sequence":"first","affiliation":[{"name":"CEIT-Basque Research and Technology Alliance (BRTA), Manuel Lardizabal 15, 20018 San Sebasti\u00e1n, Spain"},{"name":"Tecnun School of Engineering, Universidad de Navarra, Manuel Lardizabal 13, 20018 San Sebasti\u00e1n, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7754-6456","authenticated-orcid":false,"given":"Leticia","family":"Zamora-Cadenas","sequence":"additional","affiliation":[{"name":"CEIT-Basque Research and Technology Alliance (BRTA), Manuel Lardizabal 15, 20018 San Sebasti\u00e1n, Spain"},{"name":"Tecnun School of Engineering, Universidad de Navarra, Manuel Lardizabal 13, 20018 San Sebasti\u00e1n, Spain"}]},{"given":"Oier","family":"Pe\u00f1agaricano-Mu\u00f1oa","sequence":"additional","affiliation":[{"name":"Alerion Technologies SL, Paseo de Mikeletegi 73B, Suite 304, 20009 San Sebasti\u00e1n, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0012-5527","authenticated-orcid":false,"given":"Igone","family":"Velez","sequence":"additional","affiliation":[{"name":"CEIT-Basque Research and Technology Alliance (BRTA), Manuel Lardizabal 15, 20018 San Sebasti\u00e1n, Spain"},{"name":"Tecnun School of Engineering, Universidad de Navarra, Manuel Lardizabal 13, 20018 San Sebasti\u00e1n, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Jalil, B., Leone, G.R., Martinelli, M., Moroni, D., Pascali, M.A., and Berton, A. 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