A Comprehensive Survey on Short-Distance Localization of UAVs

The localization of Unmanned Aerial Vehicles (UAVs) is a critical area of research, particularly in applications requiring high accuracy and reliability in Global Positioning System (GPS)-denied environments. This paper presents a comprehensive overview of short-distance localization methods for UAVs, exploring their strengths, limitations, and practical applications. Among short-distance localization methods, ultra-wideband (UWB) technology has gained significant attention due to its ability to provide accurate positioning, resistance to multipath interference, and low power consumption. Different approaches to the usage of UWB sensors, such as time of arrival (ToA), time difference of arrival (TDoA), and double-sided two-way ranging (DS-TWR), alongside their integration with complementary sensors like Inertial Measurement Units (IMUs), cameras, and visual odometry systems, are explored. Furthermore, this paper provides an evaluation of the key factors affecting UWB-based localization performance, including anchor placement, synchronization, and the challenges of combined use with other localization technologies. By highlighting the current trends in UWB-related research, including its increasing use in swarm control, indoor navigation, and autonomous landing, potential researchers could benefit from this study by using it as a guide for choosing the appropriate localization techniques, emphasizing UWB technology’s potential as a foundational technology in advanced UAV applications.