Investigation the UWB Local Navigation System Relative Positioning Error for UAV

The article describes the development and study of an algorithm for estimating relative coordinates in ultra-wideband local navigation systems used as part of a caravan. For this purpose, a mathematical model of motion within a caravan was implemented, where the main leader of caravan has known coordinates, and subsequent objects estimate their coordinates relative to the leader. All subsequent objects are leading and following with respect to neighboring objects in caravan. The purpose of the work is to investigate the errors of determining the relative coordinates of the followers with respect to the leader in caravan of different lengths. The results show that the standard deviation of the coordinate estimation of elements in the chain increases in proportion to the caravan length. Adding a systematic error in the coordinates of the main leading element leads to increase of the mean of all leading elements by a distance of 1 meter, and the standard deviation increases by several meters.