Qichao Zhu Chao Yu Henghao Gu Zuokun Li Application Research of UWB Indoor Reverse Positioning Based on Robust Kalman Filtering. 571-577 2020 ICCT https://doi.org/10.1109/ICCT50939.2020.9295874 conf/icct/2020 db/conf/icct/icct2020.html#ZhuYGL20