This paper presents Random Motion Differential Evolution (RanMoDE) as a method for online indoor localization of flight robots using a minimal sensor setup. The sensor setup consists of six directional 1D infrared distance sensors and an inertial measurement unit (IMU) with an attitude heading reference system (AHRS). Pose estimation is performed offboard within a digital environment model, without relying on explicit motion models or parameterized probabilistic sensor likelihoods. RanMoDE formu