Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with anincreasing demand for aerial data . Accurate navigation and localization often relies on RTK GNSS . Inexpensive ultra-wideband (UWB) transceivers enable centimeter-level relative positioning . With fast deployment and wide setup flexibility, the proposed system is able to accommodate different environments and can also beutilized in GNSS-denied environments . Through extensive simulations and testfields, we evaluate the accuracy of the system and compare it to GNSS in urban environments where multipath transmission degrades accuracy . For completeness,we include visual-inertial odometry in the experiments and compare the

Author(s) : Yu Xianjia, Li Qingqing, Jorge Pena Queralta, Jukka Heikkonen, Tomi Westerlund

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Keywords : gnss - environments - system - localization - aerial -

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