Abstract
UAV swarms possess unique advantages in performing various tasks and have been successfully applied across multiple scenarios. Accurate navigation serves as the foundation and prerequisite for executing these tasks. Unlike single UAV localization, swarms enable the sharing and propagation of precise positioning information, which enhances overall swarm localization accuracy but also introduces the issue of uncertainty propagation. To address this challenge, this paper proposes an integrated navigation and positioning method that models, propagates, and mitigates uncertainties. To tackle the issue of uncertainty in information quality caused by outliers in external correction data, a robust integrated navigation method for nonlinear systems is derived based on a normal gamma distribution model. Considering uncertainty propagation, a statistical linearization model for nonlinear systems is developed. Building upon this model, an augmented measurement nonlinear least squares positioning method is applied, achieving further improvements in localization accuracy. Simulation experiments demonstrate that the proposed method, which thoroughly accounts for the effects of multiple uncertainties, can achieve robust tracking and provide relatively accurate positioning results.