only use uwb distance and vio

[dssdyx]

Hi, this is a brilliant project for lightweight swarm estimation. I want to replay your demo by experiment. But I only have NUC as my onboard pc, the map-based part cannot be used due to no gpu. I plan to use uwb and VINS fusion to complish the swarm localization. That seems lack some observation such as loop detection and drone detecton. If I fix the initial global pose with accuracy known value, would the remain obesevation, uwb distance and self ego motion , satisfy base observation of positon and yaw?