Simulation of UWB Radar-Based Positioning Performance for a UAV in an Urban Area

In an urban canyon environment, the positioning accuracy of global navigation satellite systems (GNSSs) decreases. In this paper, we consider an ultra-wideband (UWB) radar-based positioning method for unmanned aerial vehicles (UAVs) as a complement to GNSS in an urban canyon environment. The positioning accuracy of the UWB radar-based system is simulated based on the error statistics from actual range measurements. For a realistic simulation, we created a 3D map of an actual urban canyon environment in Seoul, deployed UWB radars on the map, and evaluated the positioning accuracy of a UAV at a single location.