Data set for UWB Cooperative Navigation and Positioning of UAV Cluster
Cunle Zhang, Chengkai Tang, Haonan Wang, Baowang Lian, Lingling Zhang
Abstract
The cooperative navigation of unmanned aerial vehicle (UAV) cluster has become a popular topic in military and civilian applications. Ultra-wideband (UWB) technology provides a precise and stable practical solution for distance-based cooperative positioning. To develop and evaluate the cooperative navigation system for UAVs, this paper utilizes eight fixed base stations and seven mobile UAVs to collect measurement results under four different flight formations in both indoor and outdoor environments. To eliminate fluctuations in UAV control, predefined flight trajectories were used, and multiple measurements were collected at each trajectory point for technical validation. The resulting data supports the development and validation of distance-based multi-target navigation algorithms, the evaluation of formation maintenance and collision avoidance algorithms for multiple UAVs, and also serves as a source for navigation evaluation and the development of multi-source fusion cluster positioning algorithms.