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This paper introduces UVIO, a multi-sensor framework that leverages UltraWide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robustand low-drift localization. In order to include range measurements in stateestimation, the position of the UWB anchors must be known. This study proposesa multi-step initialization procedure to map multiple unknown anchors by anUnmanned Aerial Vehicle (UAV), in a fully autonomous fashion. To address thelimitations of initializing UWB anchors via a random trajectory, this paperuses the Geometric Dilution of Precision (GDOP) as a measure of optimality inanchor position estimation, to compute a set of optimal waypoints andsynthesize a trajectory that minimizes the mapping uncertainty. After theinitialization is complete, the range measurements from multiple anchors,including measurement biases, are tightly integrated into the VIO system. Whilein range of the initialized anchors, the VIO drift in position and heading iseliminated. The effectiveness of UVIO and our initialization procedure has beenvalidated through a series of simulations and real-world experiments.

UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization