Cooperative Relative Localization in MAV Swarms with Ultra-wideband Ranging

Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem that has not been satisfactorily solved. In this work, based on the range-based peer-to-peer RL using the...

UWB Localisation: Distributed UWB inter-ranging for MAV swarms in large GNSS-denied environments

The use of micro air vehicles (MAV) is becoming increasingly mainstream and with them their applications have become more demanding across the board. The application of MAV’s in large GNSS-denied environments often asks for a distributed and scalable localisation system with minimal reliance on static localisation hardware. In this research a...

Scalable Positioning Method for MAV Localisation using Two onboard UWB Tags

Abstract—Ultra-wideband (UWB) ranging is a very suitable method for indoor localisation of unmanned aerial vehicles (UAVs). Current solutions of UWB ranging however either focus on achieving a high accuracy or focus on scalability. In this research a positioning algorithm for UAVs is presented that combines high accuracy performance with a high...