Ultra Wide Band System - Trilateration
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One of the most important building blocks for the drone referee is a method for positioning. At all times, the drone state, namely the set {X,Y,Z,Yaw}, should be known in order to perform the refereeing duties. Of the drone state, Z and the Yaw are measured by either the drone sensor suite or other programs as they are required for the low-level control of the drone. However, in order to localize w.r.t. the field and to find X and Y, a solution has to be found. To this end, several concepts were composed. Of those concepts, trilateration using Ultra Wide Band Anchors (UWB) was realized. First, the rejected concepts are shortly listed, followed by a detailed explanation of the UWB system.