A Relative Navigation Method Based on Wireless Ranging for UAV in GPS Denied Environment

Satellite navigation system can produce large errors or even cannot locate the target when its signals get obscured. To meet the local positioning demands of unmanned aerial vehicle(UAV) in GPS denied environment, we proposed a relative navigation method using wireless ranging information to construct virtual base stations. This method needs only one actual base station prepared on the ground in advance, and then construct virtual reference base station array by using ranging information of the UAV carried mobile node and the UAV displacement vector, finally, realize wireless positioning by listing virtual location equations and using the least square method to solve three-dimensional location coordinates of UAV. In this paper, the proposed method is validated and the accuracy is evaluated by testing EuRoC data set. The experiment results show that the method can realize precise positioning of UAV.