Cooperative Localization Technology of Multi-UAVs Based on GNSS/UWB
A distributed collaborative positioning method based on GNSS/UWB was proposed to solve the prob-lem of position information among unmanned aerial vehicles(UAVs).A distributed data fusion framework was constructed based on factor graph theory,introducing message transmission and reception between UAVs to a-chieve information sharing.Then,the edge probability density function of UAV position information was ob-tained using the sum-product algorithm.Finally,an iterative filter based on EKF was designed to estimate the UAV state,and the algorithm was simulated.The simulation results showed that this distributed collaborative positioning algorithm had an nearly accuracy of centralized collaborative positioning algorithm,and was superior to the accuracy of single-point positioning algorithm.
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