Abstract
Background. The different sensors and global navigation satellite system are used for positioning unmanned aerial vehicles. But in case of short-term signal loss and increasing positioning accuracy, additional methods for estimating coordinates are used. Aim. The paper deals with positioning methods for unmanned aerial vehicles based on range estimation to base stations. Methods. The positioning methods were investigated by mathematical modeling in Uma scenario. Results. The methods of coordinate estimation of unmanned aerial vehicles was analyzed. The accuracy of measurements and computational complexity in an urban scenario with different numbers of base stations were investigated by mathematical model. Conclusion. The analysis shown that the standard deviation of the coordinate estimation is about 1 m.
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