COOPERATIVE POSITIONING OR UAV SWARMS BY FUSING IMU/UWB/GPS WITH FEDERAL KALMAN FILTER

A wide variety of sensors have been used to attempt to most accurately calculate the positions of UAV drones in swarms. Global Positioning System (GPS), Inertial Measurement Unit (IMU), and Ultra-Wideband (UWB) are the most common and the most reliable sensors that are used. This proposed fusion method uses a novel Double Kalman Filter method to combine the data from these 3 sensors to most accurately achieve cooperative positioning. In the simulation, we used 30 UAVs as a swarms to verify the validity of the method. As the results shown, our method outperformed several other methods