Ultrawideband coupled relative positioning algorithm applicable to flight controller for multidrone collaboration

In this study, we introduce a loosely coupled relative position estimation method that utilizes a decentralized ultrawideband (UWB), Global Navigation Support System and inertial navigation system for flight controllers (FCs). Key obstacles to multidrone collaboration include relative position errors and the absence of communication devices. To address this, we provide an extended Kalman filter-based algorithm and module that correct distance errors by fusing UWB data acquired through random communications. Via simulations, we confirm the feasibility of the algorithm and verify its distance error correction performance according to the amount of communications. Real-world tests confirm the algorithm's effectiveness on FCs and the potential for multidrone collaboration in real environments. This method can be used to correct relative multidrone positions during collaborative transportation and simultaneous localization and mapping applications.