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The widespread availability of global navigation satellite signals has become so obvious that it is difficult to imagine their absence. However, under conditions of severe intentional interference, these signals can be degraded (spoofing) or blocked (jamming). It becomes necessary to search for solutions that allow to create your own location system operating in the local coordinate system. The ultrawideband modules that measure distances (that are on the institute's equipment) can be used for this purpose. Therefore, an attempt was made to analyze algorithms based on the measurement of this parameter that allow the location and tracking of the air objects (drone) in 3D space. Although the use of radio waves is also assumed here, the spectrum of the signal is dispersed. This allows you to avoid detecting signals and thereby avoiding interference. The adopted method also gives potential opportunities to build an indoor positioning system where satellite system signals are unavailable. Studies have been carried out for various air object trajectories in open space. They were analysed using the ordinary least squares method, the extended Kalman filter and its modification. Graphic imagery of trajectory and calculated values of traced trajectory errors for different system configurations are shown. On this basis, the implemented algorithms were evaluated. |
