  Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars,
etc, localization solution has become an active research topic in the past
decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology
because of its impressive performance in both indoor and outdoor positioning.
But algorithms relying only on UWB sensor usually result in high latency and
low bandwidth, which is undesirable in some situations such as controlling a
MAV. To alleviate this problem, an Extended Kalman Filter (EKF) based algorithm
is proposed to fuse the Inertial Measurement Unit (IMU) and UWB, which achieved
80Hz 3D localization with significantly improved accuracy and almost no delay.
To verify the effectiveness and reliability of the proposed approach, a swarm
of 6 MAVs is set up to perform a light show in an indoor exhibition hall. Video
and source codes are available at https://github.com/lijx10/uwb-localization
