Design of A Positioning System for UAV in GPS-denied Environment

In this paper, a method for UAV positioning in GPS-denied environment through a multi-sensor fusion algorithm is proposed. This method uses IMU and UWB to obtain acceleration and position information respectively. After processing the two sets of data, the position data is obtained, and the more accurate position data is obtained through the Kalman filter algorithm. Through simulation and experimental results, this method of positioning proved to be very effective. This method can significantly reduce the accuracy requirements for the positioning sensors, and obtain relatively high-precision results through the fusion processing of data collected by multiple low-precision sensors. This method can be used in the positioning system of low-cost UAVs, which is of great significance for reducing the cost and promoting commercial applications.