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Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with anincreasing demand for aerial data. Accurate navigation and localization,required for precise data collection in many industrial applications, oftenrelies on RTK GNSS. These systems, able of centimeter-level accuracy, require asetup and calibration process and are relatively expensive. This paperaddresses the problem of accurate positioning and navigation of UAVs throughcooperative localization. Inexpensive ultra-wideband (UWB) transceiversinstalled on both the UAV and a support ground robot enable centimeter-levelrelative positioning. With fast deployment and wide setup flexibility, theproposed system is able to accommodate different environments and can also beutilized in GNSS-denied environments. Through extensive simulations and testfields, we evaluate the accuracy of the system and compare it to GNSS in urbanenvironments where multipath transmission degrades accuracy. For completeness,we include visual-inertial odometry in the experiments and compare theperformance with the UWB-based cooperative localization.

Cooperative UWB-Based Localization for Outdoors Positioning and Navigation of UAVs aided by Ground Robots