国家自然科学基金，面上项目，62173276，面向多模态和弹性机制的无人机集群分布式协同导航方法研究，参与

国家自然科学基金，面上项目，61803310，基于黎曼几何的分布式多源协同高精度导航技术研究，参与

Gao B, Lian B W, Tang C K. Lightweight Omnidirectional Visual-Inertial Odometry for MAVs based on improved keyframe tracking and marginalization[J]. Telecommunication Systems, 2024, 87: 723-730.

Gao B, Lian B W, Tang C K. Adaptive accurate localization based on ranging for unknown indoor environment[C]. IEEE International Conference on Signal Processing, Communications and Computing, 2024.

高博, 廉保旺. 室内环境下基于图优化的视觉/惯性/超宽带融合定位算法[J]. 光子学报, 2024, 53(10): 1012004.

Gao B, Lian B W, Wang D J, Tang C K. Low drift visual inertial odometry with UWB aided for indoor localization[J]. IET Communications, 2022, 16(10): 1083-1093.

Gao B, Wang D J, Lian B W, Tang C K. LOVINS: Lightweight Omnidirectional Visual-Inertial Navigation System[C]. IEEE International Conference on Signal Processing, Communications and Computing, 2021.