PRECISE POSITIONING METHOD IN ENVIRONMENT WITHOUT POSITIONING INFRASTRUCTURE USING ULTRA-WIDEBAND

A method using a UWB for precisely positioning in an environment without a positioning infrastructure is provided. The method, when positioning objects of swarm objects in a free space, etc., calculates an object position of each object through cooperation with objects existing surrounding. In this state, positioning is simply performed without a specific anchor by defining objects as anchors in a UWB in accordance with an embodiment. In particular, cooperative positioning is quickly performed by reducing position errors of objects in accordance with pull-push relationships based on UWB TWR. Therefore, when a specific mission is performed in an environment in which a positioning infrastructure does not exist or is lost, such as a flight space, positioning is performed in the UWB-based cooperative positioning method described above, whereby precise positioning suitable for these environments is provided.