[1] MUR-ARTAL R, TARDOS J D. ORB-SLAM2: an open-source SLAM system for monocular, stereo, and RGB-D cameras[J]. IEEE Transactions on Robotics, 33, 1255-1262(2017).

[2] ENGEL J, KOLTUN V, CREMERS D. Direct sparse odometry[J]. IEEE Transactions on Pattern Analysis Machine Intelligence, 40, 611-625(2018).

[3] MOURIKIS A I, ROUMELIOTIS S I. A multi state constraint Kalman filter for vision-aided inertial navigation[C], 3565-3572(2007).

[4] LEUTENEGGER S, LYNEN S, BOSSE M et al. Keyframe-based visual-inertial odometry using nonlinear optimization[J]. The International Journal of Robotics Research, 34, 314-334(2014).

[5] BLOESCH M, OMARI S, HUTTER M et al. Robust visual inertial odometry using a direct EKF-based approach[C], 298-304(2015).

[6] QIN T, LI P, SHEN S. VINS-Mono: a robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 34, 1004-1020(2017).

[7] HE Y, ZHAO J, GUO Y et al. PL-VIO: tightly-coupled monocular visual-inertial odometry using point and line features[J]. Sensors, 18, 1159(2019).

[8] GONZ´ALEZ J, BLANCO J, GALINDO C et al. Mobile robot localization based on ultra-wide-band ranging: a particle filter approach[J]. Robotics and Autonomous Systems, 57, 496-507(2009).

[9] ZHOU Y, LAW C, GUAN Y et al. Indoor elliptical localization based on asynchronous UWB range measurement[J]. IEEE Transactions on Instrumentation and Measurement, 60, 248-257(2011).

[10] LEDERGERBER A, HAMER M, D’ANDREA R. A robot self-localization system using one-way ultra-wideband communication[C], 3131-3137(2015).

[11] VERONESE L D P, BADUE C, CHEEIN F A et al. A single sensor system for mapping in GNSS-denied environments[J]. Cognitive Systems Research, 56, 246-261(2019).

[12] LONG K, NSALO KONG D F, ZHANG K et al. A CSI-based indoor positioning system using single UWB ranging correction[J]. Sensors, 21, 1-21(2021).

[13] DJOSIC S, STOJANOVIC I, JOVANOVIC M et al. Multi-algorithm UWB-based localization method for mixed LOS/NLOS environments[J]. Computer Communications, 181, 365-373(2022).

[14] LI Xueqiang, LI Jiansheng, WANG Ancheng et al. A review of integrated navigation technology based on visual/inertial/UWB fusion[J]. Science of Surveying and Mapping, 48, 49-58(2023).

[15] NYQVIST H E, SKOGLUND M A, HENDEBY G et al. Pose estimation using monocular vision and inertial sensors aided with ultrawide band[C], 1-10(2015).

[16] WANG C, ZHANG H, NGUYEN T et al. Ultra-wideband aided fast localization and mapping system[C], 1602-1609(2017).

[17] SADRUDDIN H, MAHMOUD A, ATIA M. An indoor navigation system using stereo vision, IMU and UWB sensor fusion[C], 1-4(2020).

[18] LI Yuqing, BAO Hong, XU Cheng. Precise localization of monocular vision inertial SLAM and UWB data fusion[J]. Transducer and Microsystem Technologies, 41, 125-128(2022).

[19] SHEN Bingqi, ZHANG Zhiming, SHU Shaolong. UWB-VIO integrated indoor positioning algorithm for mobile robots[J]. Journal of Computer Applications, 42, 3924-3930(2022).

[20] SUI Xin, ZHANG Jie, CHEN Zhijian et al. A monocular VIO/UWB indoor integrated positioning method[J]. Journal of Navigation and Positioning, 10, 1-8(2022).

[21] SHIN S, LEE E, CHOI J et al. MIR-VIO: mutual information residual-based visual inertial odometry with UWB fusion for robust localization[C], 91-96(2021).

[22] NGUYEN T H, NGUYEN T M, XIE L. Range-focused fusion of camera-IMU-UWB for accurate and drift-reduced localization[J]. IEEE Robotics and Automation Letters, 6, 1678-1685(2021).

[23] YANG B, LI J, ZHANG H. UVIP: Robust UWB aided visual inertial positioning system for complex indoor environments[C], 5454-5460(2021).

[24] JUNG K, SHIN S, MYUNG H[M]. U-VIO: Tightly coupled UWB visual inertial odometry for robust localization, 272-283(2022).

[25] YANG Y, HE H, XU G. Adaptively robust filtering for kinematic geodetic positioning[J]. Journal of Geodesy, 75, 109-116(2001).

[26] SAMEER A, KEIR Met. Ceres solver[EB/OL]. http://www.ceres-solver.org/

[27] BURRI M, NIKOLIC J, GOHL P et al. The EuRoC micro aerial vehicle datasets[J]. The International Journal of Robotics Research, 35, 1157-1163(2016).