Motivation 上通字 SHANGHAI JIAO TONG UNIVERSITY u In the field of indoor localization and navigation since GPS is not available how to locate fast-moving UAVs (Unmanned Aerial Vehicles)such as quadrotors is still a challenging topic Most of the previous works are based on vision or ultrasound detectionMotivation ❑ In the field of indoor localization and navigation, since GPS is not available, how to locate fast-moving UAVs (Unmanned Aerial Vehicles) such as quadrotors is still a challenging topic. ➢ Most of the previous works are based on vision or ultrasound detection. 3