Multi-Agent Distributed Cooperative Localization Based on Ultra-Wideband

In modern warfare, unmanned aerial vehicle (UAV) swarms frequently encounter signal interference or denial from adversaries, posing significant challenges to localization accuracy. Nevertheless, the large-scale advantage of UAV swarms enables interfered UAVs to utilize relative navigation techniques by leveraging communication and relative measurements. Thus, we discuss a multi-agent distributed cooperative localization method based on ultra-wideband (UWB) modules. First, a distributed Kalman filtering-based multi-UAV cooperative localization algorithm is proposed, achieving high-precision localization under partial GNSS-denied conditions. Second, a multi-agent distributed cooperative localization algorithm incorporating an analysis of UWB non-stationary measurement noise characteristics is introduced, enhancing the robustness of swarm navigation in dynamic formations. Finally, a UWBbased distributed multi-UAV cooperative localization prototype system is developed, comprising five small UAVs equipped with inertial measurement unit (IMU), GPS modules, and UWB modules. Experimental evaluations under various scenarios compare and analyze swarm navigation performance under different conditions.