Abstract
AbstractIn order to solve the problems of low accuracy of close range positioning and difficulty for wingman to follow the long plane in UAV formation flight, a design method of UAV following system based on Ultra Wide Band (UWB) relative positioning technology is proposed. Firstly, the data fusion of UWB and GPS is realized by using Kalman filter algorithm to improve the relative positioning accuracy between the leader and the wingman; Secondly, the link track P module is selected to carry out relative ranging and data transmission. The STM32 MCU processes the information fusion algorithm and sends the generated control instructions to the wingman flight control to make it follow the long plane; Finally, in the outdoor environment, two small fixed wing UAVs are used to test the fusion algorithm. The simulation results and physical test show that the relative positioning accuracy of the long plane and wingman in the designed follow-up system is higher, which provides an effective means for the formation flight control between UAVs.KeywordsUAVUltra Wide BandRelative positioning technologyKalman filter algorithm
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