Abstract: There is an increasing application potential in swarm technology, accuracy in localization becomes a critical factor in the system in executing the desired task. low error and increasing the number of anchors to 8 significantly improves the accuracy of the system. Additionally, increasing the distance between anchors from 0.6 m to 2 m also improves the accuracy in the system. The obtained data offers a clear relationship between accuracy and the mentioned parameters, and a good combination of both parameters also affects the accuracy of the system. This paper offers both recommended applications and data which will aid users of the loco positioning system in determining the optimal setup based on their set of constraints. As there are various localization techniques, this paper focuses on analyzing the performance of a particular radio localization technique called the Loco Positioning System operating on the Time Difference of Arrival protocol subjected to various setup configurations. The research starts with the design of various setup configurations are based on two independent parameters which are, number of anchors, and distance between anchors as they prominently affect the accuracy of the system. Position estimates are obtained by manually moving the Crazyflie equipped with a Tag within a grid system and the values are reflected through the PC client. The position estimates are then compared to the true values to obtain a relative error which is used to define the performance of the system. Data showed that operating on 4 anchors offers relatively

Swarming is a rapidly growing idea that is being implemented in UAV applications. Its effectiveness and efficiency in finding solutions or executing the desired task served as the main motivation for this study. Localization techniques are vital for swarm implementation and deployment since it one of the main determining factors in its performance. Vision systems have been widely used for localization; however, it may be costly as it requires multiple appropriate cameras. Another localization technique, which is explored in this research, is radio localization. This localization employs Ultrawide-Band radios to communicate with each other to return a target’s position with respect to several reference points.  The study presents a new collaborative UAV implementation deployed using radio localized systems for harsh or unknown environments. The study used the Loco Positioning System operating on the Time Difference of Arrival protocol to maneuver two UAVs in a workspace. The study determined how well the system can execute the desired flight path and the performance of the system in keeping the set distance between UAVs to avoid possible collisions. Results of the study showed that the proposed implementation was successful in maneuvering the UAVs flying 0.3 m apart.

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An important factor that should be taken note in swarm application is the localization of each aerial drone for accurate implementation of a specific task. Indoor localization techniques, such as vision systems and radio systems, are developed to answer the mentioned problem. This paper presents a performance analysis of loco positioning system through varying configurations for swarm drone applications. Loco Positioning System is a radio localization technique in which processes two ranging protocols such as the Two-Way Ranging and Time Difference of Arrival. Cases are divided into 2 parameters, namely the number of anchors used, and the distances between anchors. These two parameters are set since they are important factors for constraints in costs and working space. Data showed that increasing the number of anchors from 3 to 6 decreases the error from 25.96% to 8.45%; in addition, results also showed that decreasing the distance between anchors 0.6m to 1m would give minimal increase in error. This paper is able to provide a performance report based on accuracy for each case on the specified parameters. These data may be utilized by users in determining their ideal setup based on their constraints through the two mentioned parameters.

Localization is vital in UAV operation as it monitors the position of each drone in a workspace. Existing localization techniques such as GPS are limited for outdoor implementations and cannot be implemented inside closed spaces or GPS denied areas. To address this concern localization techniques, such as vision systems and radio systems, are developed. The drawback of vision systems is the cost of implementation as the system usually requires multiple cameras strategically positioned around the experimental space to monitor the aerial drone’s position and orientation. Radio localization, on the other hand, is a cheaper alternative for indoor localization as it requires only a set of anchor and tags that communicates through a certain radio frequency; however, experimental setups and materials on this localization technique is limited at this time. This paper offers an analysis of the performance of the loco positioning system, a form of radio localization, through varying configurations for swarm drone applications. The Loco Positioning System possesses two protocols; and this paper focuses on the Two-Way Ranging protocol. The study presents different setup configurations governed by 2 parameters; number of anchors used, and the distance set between anchors, and their corresponding performances. Data showed that an increase in anchor count from 3 to 6 decreases error from 25.96% to 8.45%, and that decreasing the distance between anchors 0.6 m to 1 m would give a minimal increase in error. Users may use these performance reports to determine their ideal setup based on the mentioned parameters.