Relative navigation of UAV in a swarm

The problem of obtaining high-precision coordinate values in a UAV swarm is considered. The hierarchical structure of a UAV swarm, the composition of onboard equipment and the exchanged information is developed. For high-precision local distance measurements between UAVs it is proposed to use modulated acoustic ultrasound radiation. Synchronization of acoustic signals and information exchange between UAV-manager and other vehicles is carried out in the radio band. To simplify the solution, GNSS measurements are used as an initial approximation if they are available. The refinement of measurements for all UAVs is solved with the UAV-manager, and the results are transmitted to the subscribers for usage in a flight control. The positive simulation results are presented.