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A state estimator is derived for an agent with the ability to measure singleranges to fixed points in its environment, and equipped with an accelerometerand a rate gyroscope. The state estimator makes no agent-specific assumptions,and can be immediately applied to any rigid body with these sensors. Also, thestate estimator doesn't use any trilateration-based method to calculateposition from range measurements. As the considered system can only make asingle range measurement at a time, we present a greedy optimization algorithmfor selecting the best measurement. Experiments in an indoor testbed using anexternally controlled multicopter demonstrate the efficacy of the algorithm,specifically showing an improvement over a na\"ive strategy of a fixed sequenceof measurements. In separate experiments, the algorithm is also used infeedback control, to control the position of the multicopter.

Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization