UAV Formation Positioning via UWB Trilateration

The patent introduces other UAVs in the formation as intermediary positioning references. When GPS is lost, the affected UAV uses UWB signals to measure distances to neighboring UAVs that still have GPS positioning capability. These neighboring UAVs act as moving reference points, enabling the affected UAV to calculate its position through trilateration without directly relying on GPS satellites.

The patent replaces the satellite-based GPS positioning system with a peer-to-peer UWB ranging system. Instead of relying on electromagnetic signals from satellites, the UAVs use ultra-wideband radio waves to measure distances between each other, substituting an external satellite-based mechanical/electromagnetic system with a distributed peer-to-peer measurement system.

The patent makes the UWB communication system serve dual functions: normal data communication between UAVs and positioning measurement when GPS is lost. The same UWB transceiver hardware and signal processing infrastructure used for control commands and telemetry are also utilized for distance measurement, eliminating the need for separate dedicated positioning hardware and reducing overall system complexity.

The UAVs perform their own positioning calculations using UWB measured distances to neighboring UAVs. Each UAV independently computes its position based on distance measurements to at least three other UAVs with known positions, without requiring complex centralized processing or additional specialized positioning equipment. The system serves its own positioning needs using its existing communication infrastructure.