Accurate indoor localization information of the quadrotor plays an important role in many Internet-of-Things applications. To improve the estimation accuracy and robustness, a fixed-lag extended finite impulse response smoother (FEFIRS) algorithm is proposed for fusing the inertial navigation system (INS) and ultra wideband (UWB) data tightly, which employs a distance between the UWB reference nodes and a blind node measured by the INS and UWB. The FEFIRS algorithm consists of an extended unbiased finite impulse response (EFIR) filter and a fixed-lag unbiased FIR (UFIR) smoother. The EFIR filter is employed to improve the robustness, and the fix-lag UFIR smoother is capable of improving the accuracy. Based on extensive test investigations employing real data, the proposed FEFIRS has higher accuracy and robustness than the Kalman-based solutions in the tightly integrated INS/UWB-based indoor quadrotor localization.

Internet of Things (IoT) is emerging, and 5G enables much more data transport from mobile and wireless sources. The data to be transmitted is too much compared to link capacity. Labelling data and transmit only useful part of the collected data or their features is a promising solution for this challenge. Abnormal data are valuable due to the need to train models and to detect anomalies when being compared to already overflowing normal data. Labelling can be done in data sources or edges to balance the load and computing between sources, edges, and centres. However, unsupervised labelling method is still a challenge preventing to implement the above solutions. Two main problems in unsupervised labelling are long‐term dynamic multiseasonality and heteroscedasticity. This paper proposes a data‐driven method to handle modelling and heteroscedasticity problems. The method contains the following main steps. First, raw data are preprocessed and grouped. Second, main models are built for each group. Third, models are adapted back to the original measured data to get raw residuals. Fourth, raw residuals go through deheteroscedasticity and become normalized residuals. Finally, normalized residuals are used to conduct anomaly detection. The experimental results with real‐world data show that our method successfully increases receiver‐operating characteristic (AUC) by about 30%.