[IEEE 2012 IEEE/ION Position, Location and Navigation Symposium - PLANS 2012 - Myrtle Beach, SC, USA (2012.04.23-2012.04.26)] Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium - Robust height tracking by proper accounting of nonlinearities in an integrated UWB/MEMS-based-IMU/baro system

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