Abstract: Proposed is a method of determining a location for swarm flight using UWB, the method including: computing a reference location from GPS information in a case where the location is measured; sending out a pulling signal, preset according to a two-way ranging format, according to slave ranging scheduling corresponding to each formation, and receiving a pushing signal from a neighboring flight vehicle and performing ranging; computing a relative location in the formation on a master-slave basis from a ranged pull-push relationship using TWR time information, and computing the relative location in the formation on a slave-slave basis using a received signal strength indicator and time of arrival; generating a fingerprint map in a manner that varies with each formation, using all the computed relative locations in the formation on the master-slave basis; and computing the location of the swarm flight vehicle using the generated fingerprint map.

Abstract: A method using a UWB for precisely positioning in an environment without a positioning infrastructure is provided. The method, when positioning objects of swarm objects in a free space, etc., calculates an object position of each object through cooperation with objects existing surrounding. In this state, positioning is simply performed without a specific anchor by defining objects as anchors in a UWB in accordance with an embodiment. In particular, cooperative positioning is quickly performed by reducing position errors of objects in accordance with pull-push relationships based on UWB TWR. Therefore, when a specific mission is performed in an environment in which a positioning infrastructure does not exist or is lost, such as a flight space, positioning is performed in the UWB-based cooperative positioning method described above, whereby precise positioning suitable for these environments is provided.

Abstract: A method using a UWB for precisely positioning in an environment without a positioning infrastructure is provided. The method, when positioning objects of swarm objects in a free space, etc., calculates an object position of each object through cooperation with objects existing surrounding. In this state, positioning is simply performed without a specific anchor by defining objects as anchors in a UWB in accordance with an embodiment. In particular, cooperative positioning is quickly performed by reducing position errors of objects in accordance with pull-push relationships based on UWB TWR. Therefore, when a specific mission is performed in an environment in which a positioning infrastructure does not exist or is lost, such as a flight space, positioning is performed in the UWB-based cooperative positioning method described above, whereby precise positioning suitable for these environments is provided.

Abstract: Proposed is a method of determining a location for swarm flight using UWB, the method including: computing a reference location from GPS information in a case where the location is measured; sending out a pulling signal, preset according to a two-way ranging format, according to slave ranging scheduling corresponding to each formation, and receiving a pushing signal from a neighboring flight vehicle and performing ranging; computing a relative location in the formation on a master-slave basis from a ranged pull-push relationship using TWR time information, and computing the relative location in the formation on a slave-slave basis using a received signal strength indicator and time of arrival; generating a fingerprint map in a manner that varies with each formation, using all the computed relative locations in the formation on the master-slave basis; and computing the location of the swarm flight vehicle using the generated fingerprint map.