Cluster ranging method based on ultra-wideband technology in unmanned system cluster

The invention discloses a cluster ranging method based on an ultra-wideband technology in an unmanned system cluster, wherein the method mainly comprises five parts logically, namely network protocol framework design, ranging message generation and ranging information updating, high-dynamic cluster self-adaptive improvement, ranging message loss and ranging period mismatching processing, and high-density cluster adaptive improvement. According to the method, firstly, a simple protocol framework is designed, so that each side of ranging only needs to send ranging messages periodically instead of replying messages immediately after receiving the messages. A message structure of a data packet of the ranging message is designed, and an updating method and a distance calculation method of the ranging information according to the data packet of the ranging message are designed; then, according to the data in the updated ranging message, the ranging process is designed to be self-adaptive according to speed and dist