The invention discloses an unmanned
system positioning method and device based on an area array ultra
wide band, a terminal and a medium, and relates to the field of unmanned aerial vehicle
cluster systems and
wireless positioning, and the method comprises the steps: obtaining each initial relative distance and each
initial phase difference between a to-be-positioned
robot and an anchor
robot based on an ultra
wide band three-dimensional
antenna array; de-noising each initial relative distance and each
initial phase difference, and determining each de-noising relative distance and each de-noising
phase difference; and determining the relative position and the
relative direction of the to-be-positioned
robot according to each denoising relative distance and each denoising
phase difference. According to the invention, the
arrival time of the ultra-
wideband signal between the robot to be positioned and the
anchor point robot is measured synchronously, so that the relative distance and the plurality of phase differences of the ultra-
wideband signal in the three-dimensional space are obtained, and the relative position, posture and the like are calculated according to the relative distance and the plurality of phase differences. Therefore, the problems that in the prior art, frequent two-way communication interaction is needed, and
energy consumption and communication time
delay of the
system are increased can be effectively solved.