Ultrawideband coupled relative positioning algorithm applicable to flight controller for multidrone collaboration
Jeonggi Yang,
Soojeon Lee
Abstract:In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter‐based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Vi… Show more
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