An air-ground collaborative GNSS/UWB high-precision positioning method for dense forest environments is proposed,aiming to address the challenges of satellite signal obstruction,and achieve fast and accurate positioning.The method takes into consideration the characteristics of unmanned aerial vehicle(UAV)platforms in open environments with rapid movements and the strong penetration capabilities of ultra-wideband(UWB)measurements.It utilizes a UAV e-quipped with an integrated GNSS/UWB payload to simulate multiple base stations,combined with UWB tag network ranging in the dense forest to achieve UWB tag positioning.Research on the base station deployment scheme is conducted,providing guidance and basis for the application of GNSS/UWB cooperative positioning technology in dense forest environments.It verifies the pro-posed method through field ranging experiments and simulation positioning experiments in dense forest environments.The simulation results demonstrate that the proposed method can effectively achieve fast and high-precision positioning in dense forest environments,with an accuracy of deci-meter level.By optimizing the network type,coverage range,and height of the base station de-ployment,the positioning accuracy can be effectively improved,thus providing theoretical support for fast and high-precision positioning methods in dense forest environments.
High-precision positioningAir-ground collaborationDense forest environmentUltra-widebandBase station configuration
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