Unmanned aerial vehicle relative navigation method and system based on vision and UWB fusion

The invention provides an unmanned aerial vehicle relative navigation method and system based on vision and UWB fusion, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: firstly obtaining a central coordinate prediction value of a target unmanned aerial vehicle through an image of the target unmanned aerial vehicle, and further obtaining an azimuth angle and an altitude angle of the target unmanned aerial vehicle; then relative distance information is obtained, and the actual relative distance is obtained through calculation; calculating according to the azimuth angle, the altitude angle and the actual relative distance to obtain relative coordinates of the target unmanned aerial vehicle; and finally navigating the following unmanned aerial vehicle according to the relative coordinates of the target unmanned aerial vehicle. According to the method, continuous and high-precision relative positioning of the unmanned aerial vehicle can be realized under the condi