Comparison and Improvement of 3D-Multilateration for Solving Simultaneous Localization of Drones and UWB Anchors

Round 1

Reviewer 1 Report

The authors have presented a work titled " Comparison and improvement of 3D-multilateration for solving simultaneous localization of drones and UWB anchors". Based on my initial evaluation, I feel that the work is well written and organised. However, before acceptance the following shortcomings can be addressed:

1. In the abstract section, kindly provide the details of methodology, findings and results (improvements).

2.  The section I shall be divided in two sections. I think that the literature survey shall be given as a separate section with more comparison.

3. The title of section 3 needs to be revised.

4. The few of symbols are not defined in the article. So the shall be checking twice whether all the symbols are defined in the revised manuscript.

5. How are the fixed rate step and variable rate step determined. Is quantization process adopted here ?

6. In the results section, the authors have claimed to have Convergence results on 10,000 simulations using GD. How are iteration count fixed ?

7. For UWB sensors how is the power efficiency measured ? Kindly discuss.

8. The computational complexity analysis and time complexity analysis  is missing. Only error minimisation is widely discussed in the results section. Kindly include various important parameters from the literature.   

9. Check for simple typo's and grammatical mistakes at few places of the manuscript.

10. The details of tools used for simulation can be provided. The figures needs more clarity x axis and y axis not clear.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

This manuscript is providing valuable information for localization of set of drones. However, I have some questions to basic points.

1) In the real world, I do not think 100 anchors can be set in 3D space randomly. They are usually put on the building wall, roof or some architectures. Readers may be curious whether proposed method will work to drones in 3D space when the anchors are placed on a 2D plane randomly.

2) Is this simulation only for static (not dynamic) situation? The positioning error should increase along with the velocity and acceleration of drones. 

3) The result is showing that the simpler the estimations method, the less error and computation time. But the simple method tends not to cope with the difficult situation in the actual world. I think the proposed simulation might not be suitable in some way.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Round 2

Reviewer 2 Report

Although I do not wholly agree with the authors' replies, their idea should be published.