METHOD AND SYSTEM FOR AUTOMATICALLY POSITIONING DRONES IN A SWARM

摘要

The present invention relates to a method for automatically positioning a plurality of drones (10) moving in a swarm (100), each drone comprising an inertial sensor (22), a location module (23) for a satellite positioning system, an altitude sensor (27, 28), an image sensor (26), an ultra-wideband (UWB) communication module (24) and a central computer (25), the method comprising, for each drone: a step (500) of measuring the position and the attitude of the drone by the various sensors and by the location module; a step (600) of measuring distances by means of the communication module (24) as a target, and fixed radiofrequency modules (200) as anchors; a step (700) of merging the data from all or part of the drone's sensors with the distance measurements obtained in the previous step, in the central computer; a step (800) of estimating the state of the drone.