Stockel, PhilippPhilippStockelWallrath, PatrickPatrickWallrathPohl, NilsNilsPohlHerschel, ReinholdReinholdHerschel2023-07-112023-07-112022https://publica.fraunhofer.de/handle/publica/44546410.23919/EuRAD54643.2022.99249402-s2.0-85141935826This paper proposes new algorithms to calculate a precise estimation of the motion of an indoor hovering UAV. Therefore, we fused accurate phase measurements from a rotating radar with the data measured by an IMU. The high accuracy of the estimated position is shown by compensating almost the complete phase variation of static targets in the environment of the UAV.endroneradarvibrationconference paper