Journal of Siberian Federal University. Engineering & Technologies / Method for Measuring Mutual Coordinates of UAVs in a Group Based on Radio Range Measurements with Relay

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Issue
Journal of Siberian Federal University. Engineering & Technologies. 2026 19 (3)
Authors
Dmitriev, Dmitry D.; Gladyshev, Andrey B.; Ratushnyak, Vasily N.; Lykho, Andrey V.; Mikhov, Evgeny D.
Contact information
Dmitriev, Dmitry D. : Siberian Federal University (Krasnoyarsk, Russian Federation); ; Gladyshev, Andrey B.: Siberian Federal University (Krasnoyarsk, Russian Federation); Ratushnyak, Vasily N. : Siberian Federal University (Krasnoyarsk, Russian Federation); Lykho, Andrey V. : Siberian Federal University (Krasnoyarsk, Russian Federation); Mikhov, Evgeny D. : Siberian Federal University (Krasnoyarsk, Russian Federation);
Keywords
satellite radio navigation; GLONASS; unmanned aerial vehicles; group of unmanned aerial vehicles; relative navigation measurements; mutual navigation; rangefinding method of measuring range; local coordinate system
Abstract

This article addresses the pressing issue of organizing high-precision mutual navigation in a swarm of unmanned aerial vehicles (UAVs). It provides a brief analysis of centralized, decentralized (swarm), and hybrid approaches to solving this problem. Particular attention is given to hybrid methods combining GNSS and ultra-wideband (UWB) radio systems. The disadvantages of these methods, including high communication channel load, difficulty synchronizing and merging local coordinate systems, and limited range, are highlighted. As an alternative, a radio ranging method with relay is proposed, allowing for measuring the distances between the leader UAV and the other UAVs in the group. An improved method for mutual navigation, combining radio ranging and relay approaches, is described in detail. A step-by-step algorithm is presented that allows, based on cyclic measurements, to determine not only the distances from the leader to each UAV, but also all mutual distances between group members. Based on this data, formulas are derived for calculating the coordinates of all UAVs in a local Cartesian system associated with the leader UAV

Pages
368–376
EDN
KUTQZC
Paper at repository of SibFU
https://elib.sfu-kras.ru/handle/2311/158287

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