Research on relative positioning system of UAVs Swarm based on distributed UWB

Multi-UAVs swarm is the focus of current research. UWB (ultra-wide band) is very feasible to be applied to UAV(unmanned areial vehicle) relative positioning. The ranging accuracy, refresh frequency and positioning accuracy of UWB are very important to the formation flight of UAV.The paper mainly studies the applicability and main influencing factors of UWB distributed relative positioning for UAV cluster in tight formation flight.First of all, we analyzed the current cluster relative positioning method and MB application. Meanwhile, we designed a distributed relative measurement system.Then, the measurement error of UWB point to point is studied, the distributed positioning algorithm is designed and the error analysis is carried out.Finally, the influence of relative speed and positioning result of UAV is emphatically studied and analyzed through experiments.