Robust UWB Navigation System for UAV Swarm

The current mainstream localization techniques are not suitable for indoor cooperative UAV swarm no matter the accuracy or the independency. An indoor UWB coordination system is proposed to compensate the accumulated errors of inertial coordination unit (IMU) system to achieve centimeter level localization for the indoor cooperative UAV swarm. Several algorithms are deployed to optimize the location result to make it more accurate and robustized.