UAV Positioning Method Based On Distance Measurements To Two Ground Stations

The paper proposes a method for determining the coordinates of unmanned aerial vehicles (UAVs) based on measurements of ranges up to two ground stations that can be used in aviation navigation, radio positioning, and airspace surveillance. The method relies on an angular-difference rangefinder and forms the basis for a local navigation system used in difficult-toaccess areas. The goal of the study is to develop an approach for determining UAV positions based on measuring distances from the vehicle to a limited set of ground locations and estimating errors in these measurements, as well as establishing dependencies between these errors andother geographical parameters related to the flight of the UAV. Mathematical modeling, numerical simulations, and experiments based on a developed simulation model are used as techniques. As a result of this work, dependencies of errors in determining the position of a UAV are obtained as a function of changes in key errors in input data and geometry of ground station locations. A new method for locating UAVs using ranges to two stations and barometric altimetry has been proposed. Errors associated with this method are also determined. It has been shown that accuracy of this method depends significantly on the geometry and accuracy of station locations, range measurements, and distance between stations and UAVs. The most favorable range for operation is between 30 and 150 degrees, where positioning errors remain minimal. Theoretical significance lies in a model for representing coordinates of UAVs, which forms the basis of the localization method. Practical significance is in presenting results from simulations ofmethod operation in various scenarios, as well as results from numerical experiments that demonstrate features of application and factors influencing measurement accuracy.