Relative Localization for Swarm Aerial Vehicles

In Unmanned Aerial Vehicle (UAV) swarm formation, it is required that UAVs in the swarm should have the location information of other swarm members and all UAVs should be a part of the decision process. Global Navigation Satellite Systems, GNSS, is not a viable option for dense formation flight due to its low accuracy and susceptibility to jamming. To overcome these issues, ultra-wideband (UWB) signals can be used. UWB signals are resilient to jamming and can be used for highly accurate localization algorithms, thanks to their wide bandwidth. In this paper, two techniques on relative localization of the swarm members by utilizing UWB signals are proposed and tested. Their localization performance results are presented.