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Several different methods can be used to determine the 3-dimensional position of an object. A common solution is use of Global Navigation Satellite System (GNSS). However, for some operation the specific characteristics of GNSS can be challenging, e.g. time-to-fix on GPS RTK or unavailability of GNSS signals. When considering operations within limited range (a few hundreds of meters) another solution based on Ultra-wideband Real Time Location Systems (UWB RTLS). In this paper authors have tested a setup of a tag and five anchors in order to determine if such solution can be used in local operations of Unmanned Aerial Vehicles (e.g. landing). Experimental data are analyzed and comapred against GPS RTK measurements.

This paper presents an ultra-wideband (UWB) radio aided inertial navigation system (INS), estimating position, velocity and attitude (PVA), based on a low-cost microelectro-mechanical system (MEMS) Inertial Measurement Units (IMUs). This ensures that a drift free INS is available for local unmanned aerial vehicle (UAV) navigation independent of global navigation satellite systems (GNSS). The experimental results show that the presented integration of UWB and INS is promising for navigating independent of satellite-based positioning systems, and illustrates the possible enhancements that are possible when adding an additional vertical position measurement.

This paper presents an inertial navigation system aided by local ranging measurements derived from an ultrawideband system. The system consists of one onboard tag and several onshore anchors. It is motivated by the need to complement satellite systems in harbor areas to reduce the risk of localization dropout during high precision closedloop maneuvering and docking of ships as it may imply severe consequences. The proposed state estimation algorithm includes ranging bias to compensate for minor inaccuracies originating mostly from tag and anchor processing time.The complete ultra-wideband aided inertial navigation system is validated using full-scale measurements collected during multiple dockings of a passenger ferry in Trondheim, Norway. The results show that the proposed localization system has comparable performance to state-of-the art inertial navigation systems aided by real-time kinematic satellite position measurements. Thus, it offers a viable alternative and complement which may contribute to safe and efficient high precision closed-loop maneuvering and docking of marine vessels.