# Uncertainty-Aware 3D UAV Tracking Using Single-Anchor UWB Measurements

arXiv: https://arxiv.org/abs/2512.17249 · HTML: https://mlsanity.com/paper/2512.17249/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Dec 2025.

## Built on by (most cited first, 1 of 1)

- [Neuro-Symbolic Agentic AI for Networked Low-Altitude UAVs](https://mlsanity.com/paper/2609.19961/) (2026)

## Abstract (arXiv)

In this letter, we present an uncertainty-aware single-anchor Ultra-Wideband (UWB)-based 3D tracking framework. Specifically, a mobile Unmanned Aerial Vehicle (UAV) maintains a desired standoff distance to a moving target using range and 3D bearing measurements from a multi-antenna UWB anchor rigidly mounted on the UAV. To enhance the stability and safety under measurement degradation and motion uncertainty, we jointly design a robust factor-graph-based target localization method and a covariance-aware control Lyapunov function--control barrier function (CLF--CBF) tracking controller. This controller adaptively adjusts distance bounds and safety margins based on the posterior target covariance provided by the factor graph. The proposed system is evaluated through numerical simulations and real-world experiments carried out in a narrow indoor corridor environment.