Relative Positioning Method for UAVs Based on Multi-Source Information Fusion

Table 1

Sensors configuration and simulation parameters.

Sensors	Parameters	Value
Gyroscope	Constant drift	0.2 (°)/h
	Angle random walk	0.01 (°)/h
Accelerometer	Constant bias	100 μg
	Acceleration random walk	15 μg/h
BDS	Pseudorange measurement accuracy [31]	0.3 m
GPS	Positioning accuracy	5 m
VISION	Standard deviations	3500 μrad