Research on the Influencing Factors of Relative Positioning Error of UAV Group Under Distributed UWB

Collaboration on large-scale UAVs has become a popular subject of research because of its usefulness in a variety of situations without the restriction of Global Navigation Satellite System (GNSS), the cooperation of multiple UAVs (known as air group) is a highly complex System, which still lacks a distributed relative position estimation method. This paper designed a prototype framework for distributed Ultra-Wide Band (UWB) based relative positioning, and verified the factors influencing the error between the relative positioning estimation and the actual position through simulation experiments. It is of theoretical significance and practical value to further discuss the important analytic properties of UAVs collaborative flight optimization position.