The localization of Unmanned Aerial Vehicles (UAVs) is a critical area of research, particularly in applications requiring high accuracy and reliability in Global Positioning System (GPS)-denied environments. This paper presents a comprehensive overview of short-distance localization methods for UAVs, exploring their strengths, limitations, and practical applications. Among short-distance localization methods, ultra-wideband (UWB) technology has gained significant attention due to its ability to provide accurate positioning, resistance to multipath interference, and low power consumption. Different approaches to the usage of UWB sensors, such as time of arrival (ToA), time difference of arrival (TDoA), and double-sided two-way ranging (DS-TWR), alongside their integration with complementary sensors like Inertial Measurement Units (IMUs), cameras, and visual odometry systems, are explored. Furthermore, this paper provides an evaluation of the key factors affecting UWB-based localization performance, including anchor placement, synchronization, and the challenges of combined use with other localization technologies. By highlighting the current trends in UWB-related research, including its increasing use in swarm control, indoor navigation, and autonomous landing, potential researchers could benefit from this study by using it as a guide for choosing the appropriate localization techniques, emphasizing UWB technology’s potential as a foundational technology in advanced UAV applications.

Localization of Unmanned Aerial Vehicles (UAVs) in spaces with a limited availability of Global Navigation Satellite System signals presents a challenge, and one possible solution is the usage of Ultra-Wideband (UWB) transceivers as an aid in the localization process. This paper examines the influence of placing the UWB anchors on the UAVs’ localization accuracy in indoor spaces. Different testing scenarios, with variations in the number of anchors and their relative position towards the UAV, were created. Results show that the anchor placement plays an important role and is a significant factor in achieving accurate positioning of UAVs. The error for different testing configurations was shown through the RMSE for each axis, backed up by the standard deviation. The increase in the number of UWB anchors with the combined use of an additional laser ranging sensor for altitude measurement provided the best result. The RMSE was less than 18 cm in each axis of a 3D coordinate system with the standard deviation of up to 4.41 cm. For the testing scenarios that included the usage of a laser altimeter, the RMSE for the z-axis dropped below 1 cm, with the standard deviation of under 0.3 cm.

Localization of Unmanned Aerial Vehicles (UAVs) in spaces with a limited availability of Global Navigation Satellite System (GNSS) signals presents a challenge, and one possible solution is the usage of Ultra-Wideband (UWB) transceivers as an aid in the localization process. This paper examines the influence of placing the UWB anchors on the UAVs' localization accuracy in indoor spaces. Different testing scenarios, with variations in the number of anchors and their relative position towards the UAV, were created. Results show that the anchor placement plays an important role and is a significant factor in achieving accurate positioning of UAVs. The error for different testing configurations was shown through the RMSE for each axis, backed up by the standard deviation. The increase in the number of UWB anchors with the combined use of an additional laser ranging sensor for altitude measurement provided the best result, and the RMSE was less than 19 cm in each axis of a 3D coordinate system with the standard deviation of up to 3 cm. For the testing scenarios that included the usage of a laser altimeter, the RMSE for the z-axis dropped below 1 cm, with the standard deviation under 3 mm.